[ { "completion_time": 0.0466761589050293, "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": -0.00065760204860843, "book-upper shelf": 0.5945972823904252, "book-lower shelf": 0.37912346364962013 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.9085265286905573e-06, "bimanual_gripper_vertical_difference": 4.814513232531681e-10, "task_success": 0.0 }, { "completion_time": 0.07835602760314941, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005674375990556424, "book-upper shelf": 0.5935212470905352, "book-lower shelf": 0.3782319579102222 }, "success": 0.0, "bimanual_arm_velocity_difference": 3.0794367161881414e-05, "bimanual_gripper_vertical_difference": 9.811756962463392e-10, "task_success": 0.0 }, { "completion_time": 0.11018919944763184, "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": 0.37809518912618156 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.10719885832839915, "bimanual_gripper_vertical_difference": 0.0004549888389367614, "task_success": 0.0 }, { "completion_time": 0.14255523681640625, "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": 0.37815569086773426 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.4895762339457051, "bimanual_gripper_vertical_difference": 0.0005881017846810499, "task_success": 0.0 }, { "completion_time": 0.17352557182312012, "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": 0.3782522508901091 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8981908337929496, "bimanual_gripper_vertical_difference": 0.0021312588150312005, "task_success": 0.0 }, { "completion_time": 0.20541119575500488, "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": 0.3781997921048673 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2224712281461978, "bimanual_gripper_vertical_difference": 0.0036341861753332503, "task_success": 0.0 }, { "completion_time": 0.23784494400024414, "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": 0.0006989515326792928, "book-upper shelf": 0.593388110468527, "book-lower shelf": 0.3781086575556916 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.479715234438811, "bimanual_gripper_vertical_difference": 0.004181487451056017, "task_success": 0.0 }, { "completion_time": 0.2700362205505371, "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": 0.0006042795767432496, "book-upper shelf": 0.5934672313678491, "book-lower shelf": 0.3781711791979741 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6913813894715308, "bimanual_gripper_vertical_difference": 0.010430477893654033, "task_success": 0.0 }, { "completion_time": 0.3019137382507324, "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": 0.0005262332895654698, "book-upper shelf": 0.5935352457917368, "book-lower shelf": 0.37822710131823206 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.8568828954848051, "bimanual_gripper_vertical_difference": 0.02272222475859002, "task_success": 0.0 }, { "completion_time": 0.3344700336456299, "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": 0.0005471885453846026, "book-upper shelf": 0.5935295360338676, "book-lower shelf": 0.3782317830838878 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.9734334436002725, "bimanual_gripper_vertical_difference": 0.03869133672324322, "task_success": 0.0 }, { "completion_time": 0.3669610023498535, "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": 0.37828757736680424 }, "success": 0.0, "bimanual_arm_velocity_difference": 2.0123154777445893, "bimanual_gripper_vertical_difference": 0.05601685657772439, "task_success": 0.0 }, { "completion_time": 0.39879345893859863, "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": 0.0005017399467523997, "book-upper shelf": 0.5935502868075232, "book-lower shelf": 0.37823475963637654 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.9001218289643784, "bimanual_gripper_vertical_difference": 0.07231632622521501, "task_success": 0.0 }, { "completion_time": 0.43175196647644043, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0006576387411730833, "book-upper shelf": 0.5934052872478569, "book-lower shelf": 0.37810871151395087 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.8259943234726732, "bimanual_gripper_vertical_difference": 0.08601726136500662, "task_success": 0.0 }, { "completion_time": 0.46368408203125, "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": 0.000655369582706955, "book-upper shelf": 0.5934114318189107, "book-lower shelf": 0.3781168771098616 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.8170428126214517, "bimanual_gripper_vertical_difference": 0.09688510625841824, "task_success": 0.0 }, { "completion_time": 0.49933362007141113, "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": 0.000569687400069574, "book-upper shelf": 0.5934829113076551, "book-lower shelf": 0.37817326341957697 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.811703930718951, "bimanual_gripper_vertical_difference": 0.10554218170129828, "task_success": 0.0 }, { "completion_time": 0.5348207950592041, "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": 0.000540832695982707, "book-upper shelf": 0.5935014644692708, "book-lower shelf": 0.37818359295370985 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.8165153710884523, "bimanual_gripper_vertical_difference": 0.11232291323123517, "task_success": 0.0 }, { "completion_time": 0.568821907043457, "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": 0.0005064368611522596, "book-upper shelf": 0.5935384436565782, "book-lower shelf": 0.37821923208855773 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.8285850345059231, "bimanual_gripper_vertical_difference": 0.11729656048563412, "task_success": 0.0 }, { "completion_time": 0.60268235206604, "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": 0.000563283730252051, "book-upper shelf": 0.5934740342075443, "book-lower shelf": 0.3781551625227214 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.8294623668817716, "bimanual_gripper_vertical_difference": 0.12076703536644301, "task_success": 0.0 }, { "completion_time": 0.637061357498169, "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": 0.0006393359269579735, "book-upper shelf": 0.5934146325382276, "book-lower shelf": 0.3781114593326535 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.82127057808718, "bimanual_gripper_vertical_difference": 0.12348685572066408, "task_success": 0.0 }, { "completion_time": 0.6689975261688232, "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": 0.0007188927615993101, "book-upper shelf": 0.5933403300892905, "book-lower shelf": 0.3780466566996535 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.7963368338355443, "bimanual_gripper_vertical_difference": 0.1263963725250888, "task_success": 0.0 }, { "completion_time": 0.7049417495727539, "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": 0.0006824478899482012, "book-upper shelf": 0.5933708329581677, "book-lower shelf": 0.3780707942433324 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.7757536575617787, "bimanual_gripper_vertical_difference": 0.13008089756085459, "task_success": 0.0 }, { "completion_time": 0.7374989986419678, "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": 0.0005426481893562318, "book-upper shelf": 0.5934870041788914, "book-lower shelf": 0.37816208141635965 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.713200773980792, "bimanual_gripper_vertical_difference": 0.13394989628933032, "task_success": 0.0 }, { "completion_time": 0.7684531211853027, "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": 0.0005697075028380238, "book-upper shelf": 0.593464074648914, "book-lower shelf": 0.3781437146769768 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6459773676800236, "bimanual_gripper_vertical_difference": 0.13772025862130688, "task_success": 0.0 }, { "completion_time": 0.799243688583374, "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": 0.0006010423932947262, "book-upper shelf": 0.5934469885859498, "book-lower shelf": 0.37813730334273155 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5819866152838127, "bimanual_gripper_vertical_difference": 0.1413189212441319, "task_success": 0.0 }, { "completion_time": 0.8305199146270752, "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": 0.000647375942930517, "book-upper shelf": 0.5933954141072787, "book-lower shelf": 0.3780865328963654 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5227644129873419, "bimanual_gripper_vertical_difference": 0.14474871095960198, "task_success": 0.0 }, { "completion_time": 0.8636474609375, "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": 0.5934727108382517, "book-lower shelf": 0.3781517335725763 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4891438370225982, "bimanual_gripper_vertical_difference": 0.14812394219815095, "task_success": 0.0 }, { "completion_time": 0.8952426910400391, "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": 0.593492963068247, "book-lower shelf": 0.37816296823016654 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4541261324769694, "bimanual_gripper_vertical_difference": 0.15159460469774563, "task_success": 0.0 }, { "completion_time": 0.9274253845214844, "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": 0.5934981355478428, "book-lower shelf": 0.37817041227555176 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4316348461555601, "bimanual_gripper_vertical_difference": 0.15522418267674667, "task_success": 0.0 }, { "completion_time": 0.9584975242614746, "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": 0.0004459563090548624, "book-upper shelf": 0.5935657250976484, "book-lower shelf": 0.37822267222665445 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4219934527379123, "bimanual_gripper_vertical_difference": 0.1589784833197341, "task_success": 0.0 }, { "completion_time": 0.9925498962402344, "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": 0.0005564527648701523, "book-upper shelf": 0.5934634775449106, "book-lower shelf": 0.37813414674532175 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4121610337480162, "bimanual_gripper_vertical_difference": 0.16277770900090865, "task_success": 0.0 }, { "completion_time": 1.0240318775177002, "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": 0.5933187963348064, "book-lower shelf": 0.37801224945012357 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3973970433740883, "bimanual_gripper_vertical_difference": 0.16656580182531955, "task_success": 0.0 }, { "completion_time": 1.055690050125122, "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": 0.0007149288319036051, "book-upper shelf": 0.5933235620869793, "book-lower shelf": 0.378017757019065 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3746511556841376, "bimanual_gripper_vertical_difference": 0.17029571224960685, "task_success": 0.0 }, { "completion_time": 1.0870542526245117, "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": 0.0004954045080121094, "book-upper shelf": 0.5935072714878769, "book-lower shelf": 0.37816312862318885 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.345234209908893, "bimanual_gripper_vertical_difference": 0.17391782207741668, "task_success": 0.0 }, { "completion_time": 1.1181459426879883, "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": 0.0005739754973547173, "book-upper shelf": 0.5934523567567165, "book-lower shelf": 0.3781281033787452 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3148127358622537, "bimanual_gripper_vertical_difference": 0.1773888609495788, "task_success": 0.0 }, { "completion_time": 1.1492009162902832, "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": 0.0005610560285214117, "book-upper shelf": 0.5934457187768847, "book-lower shelf": 0.3781092722572498 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2820995517472022, "bimanual_gripper_vertical_difference": 0.18070626441850587, "task_success": 0.0 }, { "completion_time": 1.1813020706176758, "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": 0.000594691752376697, "book-upper shelf": 0.5934211373393635, "book-lower shelf": 0.37809259551809726 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2465611086260993, "bimanual_gripper_vertical_difference": 0.18385567521032567, "task_success": 0.0 }, { "completion_time": 1.2140569686889648, "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": 0.0006015265241114953, "book-upper shelf": 0.593408056722933, "book-lower shelf": 0.37807651621264227 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2136790240453208, "bimanual_gripper_vertical_difference": 0.18683196586543968, "task_success": 0.0 }, { "completion_time": 1.2452459335327148, "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": 0.0005323228648882461, "book-upper shelf": 0.5934674431022469, "book-lower shelf": 0.3781246580272359 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1842775637950136, "bimanual_gripper_vertical_difference": 0.1896342980160318, "task_success": 0.0 }, { "completion_time": 1.2767436504364014, "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": 0.0010080776593262009, "book-upper shelf": 0.5942459738444664, "book-lower shelf": 0.3796540713125967 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1599967042387023, "bimanual_gripper_vertical_difference": 0.1922754534543826, "task_success": 0.0 }, { "completion_time": 1.3083758354187012, "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": 0.0008380312861701045, "book-upper shelf": 0.5963011020477241, "book-lower shelf": 0.3827534472750522 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1387738803780152, "bimanual_gripper_vertical_difference": 0.19477180669379746, "task_success": 0.0 }, { "completion_time": 1.3410682678222656, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007378321608163541, "book-upper shelf": 0.5986056108519654, "book-lower shelf": 0.3862700239235434 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1201893140126595, "bimanual_gripper_vertical_difference": 0.19714399940380706, "task_success": 0.0 }, { "completion_time": 1.3724603652954102, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.000593687946512711, "book-upper shelf": 0.6007844964886677, "book-lower shelf": 0.3895470208349862 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1007317607279368, "bimanual_gripper_vertical_difference": 0.19940280820927855, "task_success": 0.0 }, { "completion_time": 1.402878999710083, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007853192983509061, "book-upper shelf": 0.6022707169464279, "book-lower shelf": 0.3919556806201803 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0803474510560311, "bimanual_gripper_vertical_difference": 0.2015620822891397, "task_success": 0.0 }, { "completion_time": 1.435469150543213, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007203308577723444, "book-upper shelf": 0.603874427835531, "book-lower shelf": 0.3943748979276776 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0616304174322009, "bimanual_gripper_vertical_difference": 0.20363007352954926, "task_success": 0.0 }, { "completion_time": 1.466907024383545, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007156845811833179, "book-upper shelf": 0.605317221426846, "book-lower shelf": 0.3965777175016172 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0450566403394972, "bimanual_gripper_vertical_difference": 0.2056136949183533, "task_success": 0.0 }, { "completion_time": 1.4985363483428955, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007422935787665397, "book-upper shelf": 0.6063845102624189, "book-lower shelf": 0.398221327090725 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.028377599865121, "bimanual_gripper_vertical_difference": 0.20751464934554836, "task_success": 0.0 }, { "completion_time": 1.528822422027588, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007048309506391126, "book-upper shelf": 0.607872969325662, "book-lower shelf": 0.40046117093836114 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.012204957303126, "bimanual_gripper_vertical_difference": 0.20933902640645355, "task_success": 0.0 }, { "completion_time": 1.5591113567352295, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0006879599800470038, "book-upper shelf": 0.6095879860319434, "book-lower shelf": 0.40304938555660663 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9965838302116015, "bimanual_gripper_vertical_difference": 0.2110932069707477, "task_success": 0.0 }, { "completion_time": 1.589134931564331, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0006750651784420691, "book-upper shelf": 0.6110490970380082, "book-lower shelf": 0.40524800237509745 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9800302808813737, "bimanual_gripper_vertical_difference": 0.21278137291847798, "task_success": 0.0 }, { "completion_time": 1.6203069686889648, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007015544206012692, "book-upper shelf": 0.6120465279608704, "book-lower shelf": 0.40676644583135074 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9629681144338068, "bimanual_gripper_vertical_difference": 0.21440381627493463, "task_success": 0.0 }, { "completion_time": 1.65269136428833, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007165330117009372, "book-upper shelf": 0.612778465026596, "book-lower shelf": 0.40787597682731175 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9457008347209443, "bimanual_gripper_vertical_difference": 0.21596329344919352, "task_success": 0.0 }, { "completion_time": 1.6847827434539795, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0006902615021923131, "book-upper shelf": 0.6133695210077469, "book-lower shelf": 0.4087475959182243 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9285387499934146, "bimanual_gripper_vertical_difference": 0.21746255434258763, "task_success": 0.0 }, { "completion_time": 1.7169885635375977, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0006959848564254134, "book-upper shelf": 0.6140102441750066, "book-lower shelf": 0.40971188204065045 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9123941620062984, "bimanual_gripper_vertical_difference": 0.21890451115420775, "task_success": 0.0 }, { "completion_time": 1.74891996383667, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007000204780243102, "book-upper shelf": 0.6147219154338369, "book-lower shelf": 0.4107800713154641 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8973173720578337, "bimanual_gripper_vertical_difference": 0.22029088386902704, "task_success": 0.0 }, { "completion_time": 1.7803244590759277, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0006449511889541348, "book-upper shelf": 0.6155713169723143, "book-lower shelf": 0.4120171854218974 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8823026042966513, "bimanual_gripper_vertical_difference": 0.22162511894367481, "task_success": 0.0 }, { "completion_time": 1.8117191791534424, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007205816976150192, "book-upper shelf": 0.6162214199138953, "book-lower shelf": 0.41303292533229563 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8678504420040756, "bimanual_gripper_vertical_difference": 0.22291233644901623, "task_success": 0.0 }, { "completion_time": 1.8431878089904785, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007898823504443042, "book-upper shelf": 0.6168043529981373, "book-lower shelf": 0.4139433488192721 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8538006446485616, "bimanual_gripper_vertical_difference": 0.2241548289678954, "task_success": 0.0 }, { "completion_time": 1.8746049404144287, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0008714868053638636, "book-upper shelf": 0.6171427460404725, "book-lower shelf": 0.41449588810791554 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8400920930462814, "bimanual_gripper_vertical_difference": 0.22535367905299133, "task_success": 0.0 }, { "completion_time": 1.9057197570800781, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0009033535428738526, "book-upper shelf": 0.6174153266679103, "book-lower shelf": 0.4149205353405484 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8261967527437777, "bimanual_gripper_vertical_difference": 0.22651128714482174, "task_success": 0.0 }, { "completion_time": 1.936765432357788, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0009033756341871868, "book-upper shelf": 0.617543785578156, "book-lower shelf": 0.4151116753693056 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8130194634789041, "bimanual_gripper_vertical_difference": 0.22763051029381648, "task_success": 0.0 }, { "completion_time": 1.9720265865325928, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0009330834951002398, "book-upper shelf": 0.6176009162695298, "book-lower shelf": 0.41521427881847645 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8016866677714972, "bimanual_gripper_vertical_difference": 0.22871793583741395, "task_success": 0.0 }, { "completion_time": 2.003990650177002, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0010413078020923283, "book-upper shelf": 0.6174763804136447, "book-lower shelf": 0.41509321963430734 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7916167755172016, "bimanual_gripper_vertical_difference": 0.22977528394035737, "task_success": 0.0 }, { "completion_time": 2.0359294414520264, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.001216971989444926, "book-upper shelf": 0.6172721229305804, "book-lower shelf": 0.41489357694922857 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7821685438104677, "bimanual_gripper_vertical_difference": 0.2308035364844063, "task_success": 0.0 }, { "completion_time": 2.067911386489868, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.001351119195098227, "book-upper shelf": 0.617083537310932, "book-lower shelf": 0.4146926081544531 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7740824135784566, "bimanual_gripper_vertical_difference": 0.2318054780746582, "task_success": 0.0 }, { "completion_time": 2.0999696254730225, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005115428320894289, "book-upper shelf": 0.6176128358173981, "book-lower shelf": 0.41498196686744815 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7675380320262555, "bimanual_gripper_vertical_difference": 0.2327837380454048, "task_success": 0.0 }, { "completion_time": 2.1312129497528076, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005754077812791802, "book-upper shelf": 0.6175323649505936, "book-lower shelf": 0.41490009630559976 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7640572103809699, "bimanual_gripper_vertical_difference": 0.23373572299325396, "task_success": 0.0 }, { "completion_time": 2.162893056869507, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007152801440176715, "book-upper shelf": 0.6172137715117897, "book-lower shelf": 0.41450885158413825 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7613397255395893, "bimanual_gripper_vertical_difference": 0.23465924740806784, "task_success": 0.0 }, { "completion_time": 2.195218563079834, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007978519863980349, "book-upper shelf": 0.616966563639937, "book-lower shelf": 0.41418975295286037 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7581132218798265, "bimanual_gripper_vertical_difference": 0.23555883551666876, "task_success": 0.0 }, { "completion_time": 2.227048635482788, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0004591096583912435, "book-upper shelf": 0.6172085250519124, "book-lower shelf": 0.4143488391913232 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7551481850959113, "bimanual_gripper_vertical_difference": 0.23643872464480356, "task_success": 0.0 }, { "completion_time": 2.259091854095459, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0004279756221551301, "book-upper shelf": 0.6172495654394492, "book-lower shelf": 0.4143914709806657 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7561813860954616, "bimanual_gripper_vertical_difference": 0.23729560067889086, "task_success": 0.0 }, { "completion_time": 2.290548086166382, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005013723266076298, "book-upper shelf": 0.6171882186310579, "book-lower shelf": 0.414343705889607 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7601036008761416, "bimanual_gripper_vertical_difference": 0.23810930309585934, "task_success": 0.0 }, { "completion_time": 2.32149600982666, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005018814334722954, "book-upper shelf": 0.6171954192963283, "book-lower shelf": 0.41435473413899837 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7681865178198347, "bimanual_gripper_vertical_difference": 0.23884980666935668, "task_success": 0.0 }, { "completion_time": 2.3531010150909424, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0004946854277434465, "book-upper shelf": 0.6172068236523781, "book-lower shelf": 0.4143674451414763 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7775690049144441, "bimanual_gripper_vertical_difference": 0.2394862765904628, "task_success": 0.0 }, { "completion_time": 2.3843634128570557, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0004269498749015499, "book-upper shelf": 0.6172713104676438, "book-lower shelf": 0.4144232507757491 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7861621312527104, "bimanual_gripper_vertical_difference": 0.23999957624866503, "task_success": 0.0 }, { "completion_time": 2.4159348011016846, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.000500975421168004, "book-upper shelf": 0.6172103670393447, "book-lower shelf": 0.414376460622601 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.793652603040607, "bimanual_gripper_vertical_difference": 0.24038650544629828, "task_success": 0.0 }, { "completion_time": 2.4474756717681885, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005016412438996198, "book-upper shelf": 0.6172182491038077, "book-lower shelf": 0.4143885964266449 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8009809531852004, "bimanual_gripper_vertical_difference": 0.24068373607204982, "task_success": 0.0 }, { "completion_time": 2.478015422821045, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0004942454219252213, "book-upper shelf": 0.6172299924552099, "book-lower shelf": 0.41440169321011516 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8061564441946587, "bimanual_gripper_vertical_difference": 0.2409367226984509, "task_success": 0.0 }, { "completion_time": 2.509119749069214, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.00042632607098602726, "book-upper shelf": 0.6172953286470886, "book-lower shelf": 0.41445865370912055 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8105442579140558, "bimanual_gripper_vertical_difference": 0.24114272277723567, "task_success": 0.0 }, { "completion_time": 2.5398383140563965, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005906945476646941, "book-upper shelf": 0.6171504806002136, "book-lower shelf": 0.41434057467992014 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8007107867396255, "bimanual_gripper_vertical_difference": 0.24133699044364343, "task_success": 0.0 }, { "completion_time": 2.570277690887451, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0004749516769380069, "book-upper shelf": 0.6172577897383588, "book-lower shelf": 0.4144316319215257 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7926130260897188, "bimanual_gripper_vertical_difference": 0.24152878671672875, "task_success": 0.0 }, { "completion_time": 2.6032676696777344, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0004703232117860834, "book-upper shelf": 0.617268595723072, "book-lower shelf": 0.4144449764718227 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7837253456581024, "bimanual_gripper_vertical_difference": 0.24171146443422228, "task_success": 0.0 }, { "completion_time": 2.635352373123169, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0004711709636167072, "book-upper shelf": 0.6172709518770924, "book-lower shelf": 0.4144489893381766 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7846238837090826, "bimanual_gripper_vertical_difference": 0.24186223727552328, "task_success": 0.0 }, { "completion_time": 2.6665968894958496, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005112997731724356, "book-upper shelf": 0.6172439879513506, "book-lower shelf": 0.4144326710413781 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7935509253891174, "bimanual_gripper_vertical_difference": 0.2419365421686117, "task_success": 0.0 }, { "completion_time": 2.6982383728027344, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0004547275576103349, "book-upper shelf": 0.6173016834701828, "book-lower shelf": 0.41448499079223255 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8092615614304712, "bimanual_gripper_vertical_difference": 0.24192626296096206, "task_success": 0.0 }, { "completion_time": 2.7292568683624268, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005121679431961956, "book-upper shelf": 0.6172498671339135, "book-lower shelf": 0.4144419430650874 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.830724258131351, "bimanual_gripper_vertical_difference": 0.2418435527778804, "task_success": 0.0 }, { "completion_time": 2.7599754333496094, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0004375054849173887, "book-upper shelf": 0.6173246871845535, "book-lower shelf": 0.41450901989551947 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8571992729170069, "bimanual_gripper_vertical_difference": 0.24173331384493874, "task_success": 0.0 }, { "completion_time": 2.791393280029297, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.000497607590553728, "book-upper shelf": 0.6172719887839528, "book-lower shelf": 0.4144662393807071 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8839498157468083, "bimanual_gripper_vertical_difference": 0.24165531827068457, "task_success": 0.0 }, { "completion_time": 2.822408676147461, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.00042602693117499424, "book-upper shelf": 0.6173462442492582, "book-lower shelf": 0.4145343059894136 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9080746342584368, "bimanual_gripper_vertical_difference": 0.24166886429995502, "task_success": 0.0 }, { "completion_time": 2.853194236755371, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.000589885869879736, "book-upper shelf": 0.6172013053089652, "book-lower shelf": 0.4144157926077724 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9245818806396551, "bimanual_gripper_vertical_difference": 0.24175010280682868, "task_success": 0.0 }, { "completion_time": 2.8845345973968506, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0004710336691645667, "book-upper shelf": 0.6173163895346906, "book-lower shelf": 0.41451657857035984 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.93917945842296, "bimanual_gripper_vertical_difference": 0.24184891013636467, "task_success": 0.0 }, { "completion_time": 2.914896249771118, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005235326764039261, "book-upper shelf": 0.6172716841388233, "book-lower shelf": 0.4144811869037793 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9537439574840127, "bimanual_gripper_vertical_difference": 0.24195803304420643, "task_success": 0.0 }, { "completion_time": 2.9454503059387207, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.00045649346191922735, "book-upper shelf": 0.6173379453559907, "book-lower shelf": 0.4145400433888702 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9682133726421773, "bimanual_gripper_vertical_difference": 0.24209395363272995, "task_success": 0.0 }, { "completion_time": 2.9787306785583496, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0004565719304463478, "book-upper shelf": 0.6173407912600553, "book-lower shelf": 0.414544328138629 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9851216171806515, "bimanual_gripper_vertical_difference": 0.24226853268800233, "task_success": 0.0 }, { "completion_time": 3.009286880493164, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.00042476088429621583, "book-upper shelf": 0.617376493626497, "book-lower shelf": 0.4145786016803378 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0040399283822277, "bimanual_gripper_vertical_difference": 0.24249434272532472, "task_success": 0.0 }, { "completion_time": 3.039462089538574, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005890539910770043, "book-upper shelf": 0.6172322793820013, "book-lower shelf": 0.41446142756597154 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0244102058306281, "bimanual_gripper_vertical_difference": 0.24279216369129508, "task_success": 0.0 }, { "completion_time": 3.069911003112793, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0004732852477685734, "book-upper shelf": 0.6173419338036535, "book-lower shelf": 0.414555956589514 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0451893641258827, "bimanual_gripper_vertical_difference": 0.24317799108812752, "task_success": 0.0 }, { "completion_time": 3.1000144481658936, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005575979972013423, "book-upper shelf": 0.6172703958783335, "book-lower shelf": 0.4144995046469523 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.067018397995677, "bimanual_gripper_vertical_difference": 0.2436874564745485, "task_success": 0.0 }, { "completion_time": 3.1303417682647705, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005890830073697062, "book-upper shelf": 0.6172491948107552, "book-lower shelf": 0.41448663550532144 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0896988925661382, "bimanual_gripper_vertical_difference": 0.24435108886039908, "task_success": 0.0 }, { "completion_time": 3.1602773666381836, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0004936590770885374, "book-upper shelf": 0.6173400052210719, "book-lower shelf": 0.4145651855257395 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1107214677071853, "bimanual_gripper_vertical_difference": 0.24510530218362206, "task_success": 0.0 }, { "completion_time": 3.190546751022339, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005222216684798164, "book-upper shelf": 0.6173165385123831, "book-lower shelf": 0.4145472052404241 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1315634172625177, "bimanual_gripper_vertical_difference": 0.24586575209772846, "task_success": 0.0 }, { "completion_time": 3.2234208583831787, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.00047255567308379653, "book-upper shelf": 0.6173632499519449, "book-lower shelf": 0.41458726587244255 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1521243456773451, "bimanual_gripper_vertical_difference": 0.246615075070003, "task_success": 0.0 }, { "completion_time": 3.2541675567626953, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005090120299136025, "book-upper shelf": 0.6173367745898346, "book-lower shelf": 0.4145694933617513 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1724321858855717, "bimanual_gripper_vertical_difference": 0.24737680840183765, "task_success": 0.0 }, { "completion_time": 3.284820556640625, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.00047712530532828534, "book-upper shelf": 0.6173723604145545, "book-lower shelf": 0.4146035459949563 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1925223156902498, "bimanual_gripper_vertical_difference": 0.24819492291601733, "task_success": 0.0 }, { "completion_time": 3.3159196376800537, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.00045728681671064475, "book-upper shelf": 0.6173946240344171, "book-lower shelf": 0.4146249163649666 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.213941372547872, "bimanual_gripper_vertical_difference": 0.2490981515310697, "task_success": 0.0 }, { "completion_time": 3.346139907836914, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005096579065918538, "book-upper shelf": 0.6173523119038193, "book-lower shelf": 0.4145930132554081 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2364052137159018, "bimanual_gripper_vertical_difference": 0.25010362188249474, "task_success": 0.0 }, { "completion_time": 3.376749277114868, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005005840799697792, "book-upper shelf": 0.6173701667483728, "book-lower shelf": 0.41461421105916313 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2590682443008576, "bimanual_gripper_vertical_difference": 0.2512133755144313, "task_success": 0.0 }, { "completion_time": 3.407715320587158, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0004569505324042433, "book-upper shelf": 0.6174125311767598, "book-lower shelf": 0.41465138072234037 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.281126239679604, "bimanual_gripper_vertical_difference": 0.252401693154499, "task_success": 0.0 }, { "completion_time": 3.4388275146484375, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005092217518229969, "book-upper shelf": 0.6173694699101893, "book-lower shelf": 0.414618303045079 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3028184828319809, "bimanual_gripper_vertical_difference": 0.2536517116378486, "task_success": 0.0 }, { "completion_time": 3.4703309535980225, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.00047718539557151107, "book-upper shelf": 0.6174080166504425, "book-lower shelf": 0.4146566743263958 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3247829242450553, "bimanual_gripper_vertical_difference": 0.25494086289292267, "task_success": 0.0 }, { "completion_time": 3.5014047622680664, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0004569474663603801, "book-upper shelf": 0.6174288289581171, "book-lower shelf": 0.41467564577579014 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.347047521244231, "bimanual_gripper_vertical_difference": 0.25621958423764674, "task_success": 0.0 }, { "completion_time": 3.532254219055176, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005617133159722121, "book-upper shelf": 0.617338199607478, "book-lower shelf": 0.41460291485721684 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3650843137228907, "bimanual_gripper_vertical_difference": 0.2574503304288262, "task_success": 0.0 }, { "completion_time": 3.562962532043457, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.00047306595836171805, "book-upper shelf": 0.6174228206060577, "book-lower shelf": 0.41467627051410155 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3812657477093526, "bimanual_gripper_vertical_difference": 0.258606480131976, "task_success": 0.0 }, { "completion_time": 3.5930960178375244, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005210091981405762, "book-upper shelf": 0.6173884281532521, "book-lower shelf": 0.4146535310210947 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3916478782338144, "bimanual_gripper_vertical_difference": 0.25970385766517584, "task_success": 0.0 }, { "completion_time": 3.6234130859375, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0004250837914175909, "book-upper shelf": 0.6174812440358963, "book-lower shelf": 0.4147347680631631 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.402494576534747, "bimanual_gripper_vertical_difference": 0.2607927036520838, "task_success": 0.0 }, { "completion_time": 3.6535251140594482, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0004730741834969576, "book-upper shelf": 0.6174397713026476, "book-lower shelf": 0.414701513331068 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4182946937536065, "bimanual_gripper_vertical_difference": 0.2619214485228917, "task_success": 0.0 }, { "completion_time": 3.6845240592956543, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005038651343054479, "book-upper shelf": 0.6174246715905093, "book-lower shelf": 0.41469731379061375 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4379587176572073, "bimanual_gripper_vertical_difference": 0.2631322522360838, "task_success": 0.0 }, { "completion_time": 3.716160774230957, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": -0.00021051438962771396, "book-upper shelf": 0.6184548502307726, "book-lower shelf": 0.4158067370242173 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4559888099916234, "bimanual_gripper_vertical_difference": 0.2644407840408191, "task_success": 0.0 }, { "completion_time": 3.7474238872528076, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": -0.00344733701487987, "book-upper shelf": 0.621781902535803, "book-lower shelf": 0.4188407833577108 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4548354308369975, "bimanual_gripper_vertical_difference": 0.26575848604268004, "task_success": 0.0 }, { "completion_time": 3.7783703804016113, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": -0.004675942510258602, "book-upper shelf": 0.6245954912216616, "book-lower shelf": 0.4222906207368257 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4491303856853954, "bimanual_gripper_vertical_difference": 0.26706789956729654, "task_success": 0.0 }, { "completion_time": 3.809215545654297, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": -0.005246005513183549, "book-upper shelf": 0.6259240279381498, "book-lower shelf": 0.423922164946638 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4460260653563346, "bimanual_gripper_vertical_difference": 0.2683692003485138, "task_success": 0.0 }, { "completion_time": 3.8411567211151123, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": -0.006135050062280323, "book-upper shelf": 0.6269223121609043, "book-lower shelf": 0.4248798520531609 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.444673092914013, "bimanual_gripper_vertical_difference": 0.26966140720706805, "task_success": 0.0 }, { "completion_time": 3.871239185333252, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": -0.01001374502032526, "book-upper shelf": 0.6316015750672688, "book-lower shelf": 0.4295367149561791 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4471431655845068, "bimanual_gripper_vertical_difference": 0.27091427323897055, "task_success": 0.0 }, { "completion_time": 3.90128493309021, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": -0.010303875410550889, "book-upper shelf": 0.6320081429667482, "book-lower shelf": 0.4299682057243701 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4505096437864446, "bimanual_gripper_vertical_difference": 0.27212715941799753, "task_success": 0.0 }, { "completion_time": 3.9315850734710693, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": -0.00916333971556238, "book-upper shelf": 0.6311414238722927, "book-lower shelf": 0.42934778313948857 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.454803777669423, "bimanual_gripper_vertical_difference": 0.27331023421293044, "task_success": 0.0 }, { "completion_time": 3.963174819946289, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": -0.0074888435193188885, "book-upper shelf": 0.629992263979403, "book-lower shelf": 0.42861973855979374 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4601601446817196, "bimanual_gripper_vertical_difference": 0.2744660686161671, "task_success": 0.0 }, { "completion_time": 3.9966304302215576, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": -0.004388406234548947, "book-upper shelf": 0.626205397232346, "book-lower shelf": 0.4248348355177918 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4659077326176533, "bimanual_gripper_vertical_difference": 0.27560169715708777, "task_success": 0.0 }, { "completion_time": 4.0265467166900635, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 1.2991908567183685e-05, "book-upper shelf": 0.6184379075857701, "book-lower shelf": 0.415913875695576 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4727127687156971, "bimanual_gripper_vertical_difference": 0.2767510247667581, "task_success": 0.0 }, { "completion_time": 4.05733847618103, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0017152030681123476, "book-upper shelf": 0.613243749030229, "book-lower shelf": 0.4091760697612582 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4786318631979767, "bimanual_gripper_vertical_difference": 0.27789363277378104, "task_success": 0.0 }, { "completion_time": 4.088375091552734, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0015809982557020152, "book-upper shelf": 0.6088472303592727, "book-lower shelf": 0.40247487014353933 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4855006470751961, "bimanual_gripper_vertical_difference": 0.2790023080069067, "task_success": 0.0 }, { "completion_time": 4.119561195373535, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.00020632466696923757, "book-upper shelf": 0.6085647379055057, "book-lower shelf": 0.4012046278343511 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.492570405483776, "bimanual_gripper_vertical_difference": 0.2800912131806092, "task_success": 0.0 }, { "completion_time": 4.1505653858184814, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007164769855304565, "book-upper shelf": 0.6081039234833998, "book-lower shelf": 0.4008188112330801 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4986413164679648, "bimanual_gripper_vertical_difference": 0.2811731758586705, "task_success": 0.0 }, { "completion_time": 4.1830785274505615, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007213185150745094, "book-upper shelf": 0.608099921681637, "book-lower shelf": 0.4008157140667346 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5047088974800644, "bimanual_gripper_vertical_difference": 0.2822422295215313, "task_success": 0.0 }, { "completion_time": 4.214547395706177, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007227508973373098, "book-upper shelf": 0.6080989908723293, "book-lower shelf": 0.4008151818110216 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5111660506062499, "bimanual_gripper_vertical_difference": 0.28328279631488607, "task_success": 0.0 }, { "completion_time": 4.245551586151123, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007241606302891279, "book-upper shelf": 0.6080980805107218, "book-lower shelf": 0.4008146666653703 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5168515431123342, "bimanual_gripper_vertical_difference": 0.2842877674102713, "task_success": 0.0 }, { "completion_time": 4.277098178863525, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.000725570247531282, "book-upper shelf": 0.6080971702989907, "book-lower shelf": 0.40081415167742845 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5224697271629766, "bimanual_gripper_vertical_difference": 0.28525063343500734, "task_success": 0.0 }, { "completion_time": 4.308927774429321, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007269798989979481, "book-upper shelf": 0.6080962601020855, "book-lower shelf": 0.4008136367344097 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5209515211230737, "bimanual_gripper_vertical_difference": 0.28616674625434, "task_success": 0.0 }, { "completion_time": 4.341726303100586, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007283895856808886, "book-upper shelf": 0.608095349919118, "book-lower shelf": 0.4008131218355756 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5143398492356193, "bimanual_gripper_vertical_difference": 0.28704124603671244, "task_success": 0.0 }, { "completion_time": 4.3736677169799805, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007297993075813247, "book-upper shelf": 0.608094439750092, "book-lower shelf": 0.40081260698093324 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5086339941649252, "bimanual_gripper_vertical_difference": 0.2878855129487261, "task_success": 0.0 }, { "completion_time": 4.406472444534302, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007312090646937053, "book-upper shelf": 0.6080935295950178, "book-lower shelf": 0.4008120921704943 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5077398607672245, "bimanual_gripper_vertical_difference": 0.28870794574934877, "task_success": 0.0 }, { "completion_time": 4.439450979232788, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007326188570124792, "book-upper shelf": 0.6080926194539052, "book-lower shelf": 0.400811577404271 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.512928737875617, "bimanual_gripper_vertical_difference": 0.28950652583819625, "task_success": 0.0 }, { "completion_time": 4.473556756973267, "slip_count": 2, "slip_count_per_object": { "object_1": 2 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007340286845320954, "book-upper shelf": 0.6080917093267647, "book-lower shelf": 0.4008110626822751 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5188891441040344, "bimanual_gripper_vertical_difference": 0.2902778785092866, "task_success": 0.0 }, { "completion_time": 4.505746841430664, "slip_count": 2, "slip_count_per_object": { "object_1": 2 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007354385472470026, "book-upper shelf": 0.6080907992136058, "book-lower shelf": 0.40081054800451854 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.524972310025462, "bimanual_gripper_vertical_difference": 0.2910221738645987, "task_success": 0.0 }, { "completion_time": 4.537755250930786, "slip_count": 2, "slip_count_per_object": { "object_1": 2 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007368484451514279, "book-upper shelf": 0.6080898891144392, "book-lower shelf": 0.4008100333710135 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5313290866059228, "bimanual_gripper_vertical_difference": 0.2917385508388132, "task_success": 0.0 }, { "completion_time": 4.570029258728027, "slip_count": 2, "slip_count_per_object": { "object_1": 2 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007083493073916092, "book-upper shelf": 0.6081187540926554, "book-lower shelf": 0.4008363185721925 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5376207607839154, "bimanual_gripper_vertical_difference": 0.2924295601453487, "task_success": 0.0 }, { "completion_time": 4.602687358856201, "slip_count": 2, "slip_count_per_object": { "object_1": 2 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005569355052501557, "book-upper shelf": 0.6082613312696228, "book-lower shelf": 0.4009596221547842 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5430228169698033, "bimanual_gripper_vertical_difference": 0.293100392047599, "task_success": 0.0 }, { "completion_time": 4.634719371795654, "slip_count": 2, "slip_count_per_object": { "object_1": 2 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.000421341296264921, "book-upper shelf": 0.6083880961974927, "book-lower shelf": 0.4010686645792258 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5476275860606818, "bimanual_gripper_vertical_difference": 0.29375700229929425, "task_success": 0.0 }, { "completion_time": 4.666480779647827, "slip_count": 2, "slip_count_per_object": { "object_1": 2 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0004101003609872089, "book-upper shelf": 0.6084043028080333, "book-lower shelf": 0.4010863475479043 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5516711428631542, "bimanual_gripper_vertical_difference": 0.294406367078502, "task_success": 0.0 }, { "completion_time": 4.698113918304443, "slip_count": 2, "slip_count_per_object": { "object_1": 2 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0003982023152673264, "book-upper shelf": 0.6084127929904806, "book-lower shelf": 0.4010919221274164 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5556798503800322, "bimanual_gripper_vertical_difference": 0.2950497794134263, "task_success": 0.0 }, { "completion_time": 4.730633974075317, "slip_count": 2, "slip_count_per_object": { "object_1": 2 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0003951286712092772, "book-upper shelf": 0.6084214273641155, "book-lower shelf": 0.40110313259953856 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5600855813969272, "bimanual_gripper_vertical_difference": 0.29568814385949965, "task_success": 0.0 }, { "completion_time": 4.761695384979248, "slip_count": 2, "slip_count_per_object": { "object_1": 2 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0004197401775564158, "book-upper shelf": 0.6083954770269213, "book-lower shelf": 0.4010788776643104 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5646371367178118, "bimanual_gripper_vertical_difference": 0.2963192796068622, "task_success": 0.0 }, { "completion_time": 4.793271064758301, "slip_count": 2, "slip_count_per_object": { "object_1": 2 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.00047284091520494176, "book-upper shelf": 0.6083590201885826, "book-lower shelf": 0.4010561762953591 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.568937556591854, "bimanual_gripper_vertical_difference": 0.29693598416031164, "task_success": 0.0 }, { "completion_time": 4.824246883392334, "slip_count": 2, "slip_count_per_object": { "object_1": 2 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0004965117582291789, "book-upper shelf": 0.6083529742025443, "book-lower shelf": 0.4010615377065517 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5735000579558969, "bimanual_gripper_vertical_difference": 0.2975345382222581, "task_success": 0.0 }, { "completion_time": 4.8552422523498535, "slip_count": 2, "slip_count_per_object": { "object_1": 2 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0010642444554658237, "book-upper shelf": 0.6072516372397307, "book-lower shelf": 0.3997388481282502 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5762249372535022, "bimanual_gripper_vertical_difference": 0.29812957882948193, "task_success": 0.0 }, { "completion_time": 4.886446714401245, "slip_count": 2, "slip_count_per_object": { "object_1": 2 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005162835920055064, "book-upper shelf": 0.6068813203727156, "book-lower shelf": 0.3988379238027816 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.572734471291607, "bimanual_gripper_vertical_difference": 0.29873514368361426, "task_success": 0.0 }, { "completion_time": 4.9175941944122314, "slip_count": 2, "slip_count_per_object": { "object_1": 2 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007376094280482359, "book-upper shelf": 0.6066818271138962, "book-lower shelf": 0.3986710219014471 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5661228684068589, "bimanual_gripper_vertical_difference": 0.2993514204041227, "task_success": 0.0 }, { "completion_time": 4.947077035903931, "slip_count": 2, "slip_count_per_object": { "object_1": 2 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0015754351911475561, "book-upper shelf": 0.6056381544539647, "book-lower shelf": 0.39760018332512453 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.561562914453727, "bimanual_gripper_vertical_difference": 0.29997502847624685, "task_success": 0.0 }, { "completion_time": 4.97861909866333, "slip_count": 2, "slip_count_per_object": { "object_1": 2 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.005045498192875475, "book-upper shelf": 0.6023856380326763, "book-lower shelf": 0.39479820298353996 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.560191429518659, "bimanual_gripper_vertical_difference": 0.3005952461217788, "task_success": 0.0 }, { "completion_time": 5.009145498275757, "slip_count": 2, "slip_count_per_object": { "object_1": 2 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.007621441713271504, "book-upper shelf": 0.5998185332375842, "book-lower shelf": 0.39248943981966683 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5601768607588082, "bimanual_gripper_vertical_difference": 0.3011971276680132, "task_success": 0.0 }, { "completion_time": 5.040592670440674, "slip_count": 2, "slip_count_per_object": { "object_1": 2 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.012320253905006906, "book-upper shelf": 0.5966961378811486, "book-lower shelf": 0.3906736471473222 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5617390355158538, "bimanual_gripper_vertical_difference": 0.3017759572078068, "task_success": 0.0 }, { "completion_time": 5.073863506317139, "slip_count": 2, "slip_count_per_object": { "object_1": 2 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.015273499711346616, "book-upper shelf": 0.5960430459622674, "book-lower shelf": 0.39153704313518234 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5644159019228971, "bimanual_gripper_vertical_difference": 0.3023280608513474, "task_success": 0.0 }, { "completion_time": 5.10611367225647, "slip_count": 2, "slip_count_per_object": { "object_1": 2 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.018027753930542123, "book-upper shelf": 0.5971334334712062, "book-lower shelf": 0.39491595734189594 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5675583341957116, "bimanual_gripper_vertical_difference": 0.30284884645399895, "task_success": 0.0 }, { "completion_time": 5.136778354644775, "slip_count": 2, "slip_count_per_object": { "object_1": 2 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.02279995363305576, "book-upper shelf": 0.5976874537904716, "book-lower shelf": 0.39871122150089217 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5713436544978394, "bimanual_gripper_vertical_difference": 0.30332098595897244, "task_success": 0.0 }, { "completion_time": 5.166812896728516, "slip_count": 2, "slip_count_per_object": { "object_1": 2 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.031101828460309844, "book-upper shelf": 0.5961766479856611, "book-lower shelf": 0.4015659342932313 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5756360884177494, "bimanual_gripper_vertical_difference": 0.30372713600265483, "task_success": 0.0 }, { "completion_time": 5.196796417236328, "slip_count": 2, "slip_count_per_object": { "object_1": 2 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.04339168264485316, "book-upper shelf": 0.5910656006886333, "book-lower shelf": 0.40154612061120143 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.580824250627899, "bimanual_gripper_vertical_difference": 0.304041211329996, "task_success": 0.0 }, { "completion_time": 5.227681398391724, "slip_count": 2, "slip_count_per_object": { "object_1": 2 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.06118768190067081, "book-upper shelf": 0.5802647426095101, "book-lower shelf": 0.3966756281766414 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5866471678080205, "bimanual_gripper_vertical_difference": 0.30423129039483954, "task_success": 0.0 }, { "completion_time": 5.258234739303589, "slip_count": 2, "slip_count_per_object": { "object_1": 2 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.08377735572762812, "book-upper shelf": 0.5634114286373293, "book-lower shelf": 0.386265588996796 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5943011485892111, "bimanual_gripper_vertical_difference": 0.30426862727703585, "task_success": 0.0 }, { "completion_time": 5.289271116256714, "slip_count": 2, "slip_count_per_object": { "object_1": 2 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.11196650132511876, "book-upper shelf": 0.5391200902971683, "book-lower shelf": 0.36918949579198035 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6050669709776808, "bimanual_gripper_vertical_difference": 0.3041174301627679, "task_success": 0.0 }, { "completion_time": 5.320245981216431, "slip_count": 2, "slip_count_per_object": { "object_1": 2 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.1485158352974706, "book-upper shelf": 0.5071702187873479, "book-lower shelf": 0.3476647269119681 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6180641724800604, "bimanual_gripper_vertical_difference": 0.30374036233842217, "task_success": 0.0 }, { "completion_time": 5.35059928894043, "slip_count": 2, "slip_count_per_object": { "object_1": 2 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.195656375313646, "book-upper shelf": 0.4705558039177625, "book-lower shelf": 0.3290687693958154 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6310191204553093, "bimanual_gripper_vertical_difference": 0.3030971364728641, "task_success": 0.0 }, { "completion_time": 5.381647348403931, "slip_count": 2, "slip_count_per_object": { "object_1": 2 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.2426534754496591, "book-upper shelf": 0.4385095542391156, "book-lower shelf": 0.31984033744693335 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6387029557527693, "bimanual_gripper_vertical_difference": 0.30220940537448465, "task_success": 0.0 }, { "completion_time": 5.411471128463745, "slip_count": 2, "slip_count_per_object": { "object_1": 2 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.2808367821661478, "book-upper shelf": 0.4177875092636369, "book-lower shelf": 0.3214918110072656 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6451588649116862, "bimanual_gripper_vertical_difference": 0.3011182547245992, "task_success": 0.0 }, { "completion_time": 5.442131042480469, "slip_count": 2, "slip_count_per_object": { "object_1": 2 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.3146359592521094, "book-upper shelf": 0.4020177350997078, "book-lower shelf": 0.32722048484167127 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6492470140655064, "bimanual_gripper_vertical_difference": 0.2998503577552855, "task_success": 0.0 }, { "completion_time": 5.472137928009033, "slip_count": 2, "slip_count_per_object": { "object_1": 2 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.3478727217359773, "book-upper shelf": 0.3830075409943153, "book-lower shelf": 0.32941949922701297 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6496296009724865, "bimanual_gripper_vertical_difference": 0.2984188325502098, "task_success": 0.0 }, { "completion_time": 5.5017547607421875, "slip_count": 2, "slip_count_per_object": { "object_1": 2 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.37929601047118144, "book-upper shelf": 0.3574549205590684, "book-lower shelf": 0.32414633847391217 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6498188957953206, "bimanual_gripper_vertical_difference": 0.29683743991492867, "task_success": 0.0 }, { "completion_time": 5.531870603561401, "slip_count": 2, "slip_count_per_object": { "object_1": 2 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.4049620123460226, "book-upper shelf": 0.32360458936833314, "book-lower shelf": 0.30766212208898047 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6499886119631226, "bimanual_gripper_vertical_difference": 0.2951572364105779, "task_success": 0.0 }, { "completion_time": 5.56247353553772, "slip_count": 2, "slip_count_per_object": { "object_1": 2 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.4224455320508499, "book-upper shelf": 0.283720765991011, "book-lower shelf": 0.2811463736582906 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6513875553064912, "bimanual_gripper_vertical_difference": 0.2936186717209479, "task_success": 0.0 }, { "completion_time": 5.593527317047119, "slip_count": 2, "slip_count_per_object": { "object_1": 2 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.43339546721993283, "book-upper shelf": 0.24255704090726812, "book-lower shelf": 0.25054345735192324 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6478314216247916, "bimanual_gripper_vertical_difference": 0.2921484740335137, "task_success": 0.0 }, { "completion_time": 5.624504089355469, "slip_count": 2, "slip_count_per_object": { "object_1": 2 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.4381637318261836, "book-upper shelf": 0.20392579642674574, "book-lower shelf": 0.2187966368030796 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6391714831384765, "bimanual_gripper_vertical_difference": 0.29071246795721806, "task_success": 0.0 }, { "completion_time": 5.654488801956177, "slip_count": 2, "slip_count_per_object": { "object_1": 2 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.43849044227887723, "book-upper shelf": 0.17291419118824128, "book-lower shelf": 0.1906474335111672 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6404230249816178, "bimanual_gripper_vertical_difference": 0.2892575077318198, "task_success": 0.0 }, { "completion_time": 5.684349775314331, "slip_count": 2, "slip_count_per_object": { "object_1": 2 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.4327388258918182, "book-upper shelf": 0.1542404641341814, "book-lower shelf": 0.16554414421299823 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6447339831966163, "bimanual_gripper_vertical_difference": 0.28773548292105405, "task_success": 0.0 }, { "completion_time": 5.71591591835022, "slip_count": 2, "slip_count_per_object": { "object_1": 2 }, "env_collision_count": 3, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.4193932123181897, "book-upper shelf": 0.15132819173214837, "book-lower shelf": 0.14121939360706656 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6447721912604105, "bimanual_gripper_vertical_difference": 0.28615223448823224, "task_success": 0.0 }, { "completion_time": 5.745790958404541, "slip_count": 2, "slip_count_per_object": { "object_1": 2 }, "env_collision_count": 3, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.39744926930475233, "book-upper shelf": 0.1632434136753528, "book-lower shelf": 0.1135112898101052 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6395283158660894, "bimanual_gripper_vertical_difference": 0.2846889477513612, "task_success": 0.0 }, { "completion_time": 5.775236368179321, "slip_count": 2, "slip_count_per_object": { "object_1": 2 }, "env_collision_count": 3, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.3636283883585386, "book-upper shelf": 0.192252477056496, "book-lower shelf": 0.08088462744596049 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6308548716332596, "bimanual_gripper_vertical_difference": 0.2833461105260891, "task_success": 0.0 }, { "completion_time": 5.805746793746948, "slip_count": 2, "slip_count_per_object": { "object_1": 2 }, "env_collision_count": 3, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false, "4": false }, "target_distance": { "book lift distance": 0.35065064248595845, "book-upper shelf": 0.2032617143940531, "book-lower shelf": 0.06712482119918578 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6264118211957592, "bimanual_gripper_vertical_difference": 0.2821320127386946, "task_success": 0.0 }, { "completion_time": 5.834500551223755, "slip_count": 2, "slip_count_per_object": { "object_1": 2 }, "env_collision_count": 3, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": true, "4": true }, "target_distance": { "book lift distance": 0.34907782954890154, "book-upper shelf": 0.20368696353086335, "book-lower shelf": 0.06248411370886654 }, "success": 1.0, "bimanual_arm_velocity_difference": 1.6191325656135298, "bimanual_gripper_vertical_difference": 0.28087507348156926, "task_success": 1.0 } ]