[ { "completion_time": 0.046146392822265625, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": -0.0006576020486083189, "book-upper shelf": 0.594597282390425, "book-lower shelf": 0.37912346364961985 }, "success": 0.0, "bimanual_arm_velocity_difference": 2.0051765475953554e-06, "bimanual_gripper_vertical_difference": 5.695708349406914e-10, "task_success": 0.0 }, { "completion_time": 0.07713556289672852, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005674375990554203, "book-upper shelf": 0.5935212470905353, "book-lower shelf": 0.3782319579102224 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.018563459267291e-06, "bimanual_gripper_vertical_difference": 7.251649281059258e-10, "task_success": 0.0 }, { "completion_time": 0.10788488388061523, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007380219397271626, "book-upper shelf": 0.5933633158068491, "book-lower shelf": 0.3780951891261817 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.000770745151420058, "bimanual_gripper_vertical_difference": 2.5945937345802268e-05, "task_success": 0.0 }, { "completion_time": 0.1392197608947754, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0006505387417130581, "book-upper shelf": 0.5934381687601084, "book-lower shelf": 0.3781556908677344 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.15032107754507218, "bimanual_gripper_vertical_difference": 0.0004469904702709693, "task_success": 0.0 }, { "completion_time": 0.16946077346801758, "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": 0.37825225089010917 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.45557867656377515, "bimanual_gripper_vertical_difference": 0.0011074844851564959, "task_success": 0.0 }, { "completion_time": 0.20090985298156738, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005808829610109978, "book-upper shelf": 0.5934951712886882, "book-lower shelf": 0.3781997921048675 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7665202755130193, "bimanual_gripper_vertical_difference": 0.001590681317472309, "task_success": 0.0 }, { "completion_time": 0.2314596176147461, "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": 0.37810865755569173 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0323113238646184, "bimanual_gripper_vertical_difference": 0.002878868528903273, "task_success": 0.0 }, { "completion_time": 0.26173996925354004, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0006042795767431386, "book-upper shelf": 0.5934672313678492, "book-lower shelf": 0.37817117919797416 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2390610485601288, "bimanual_gripper_vertical_difference": 0.006116579245094789, "task_success": 0.0 }, { "completion_time": 0.29340124130249023, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005262332895653588, "book-upper shelf": 0.5935352457917369, "book-lower shelf": 0.37822710131823206 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3704092924716547, "bimanual_gripper_vertical_difference": 0.012160644552941536, "task_success": 0.0 }, { "completion_time": 0.32404589653015137, "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": 0.3782317830838877 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4552796240393948, "bimanual_gripper_vertical_difference": 0.02146372487086312, "task_success": 0.0 }, { "completion_time": 0.3554863929748535, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.00042609565681128725, "book-upper shelf": 0.5936153230777036, "book-lower shelf": 0.3782875773668043 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.511088502072247, "bimanual_gripper_vertical_difference": 0.03387105764788218, "task_success": 0.0 }, { "completion_time": 0.38599252700805664, "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": 1.4479554692008314, "bimanual_gripper_vertical_difference": 0.046662601888176135, "task_success": 0.0 }, { "completion_time": 0.4163849353790283, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0006576387411729723, "book-upper shelf": 0.593405287247857, "book-lower shelf": 0.378108711513951 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.375160790874785, "bimanual_gripper_vertical_difference": 0.05755277273593024, "task_success": 0.0 }, { "completion_time": 0.4463226795196533, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.000655369582706733, "book-upper shelf": 0.5934114318189109, "book-lower shelf": 0.37811687710986175 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3602033168005536, "bimanual_gripper_vertical_difference": 0.06537676691152243, "task_success": 0.0 }, { "completion_time": 0.4761645793914795, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.000569687400069463, "book-upper shelf": 0.5934829113076552, "book-lower shelf": 0.3781732634195771 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3584347611623713, "bimanual_gripper_vertical_difference": 0.07029379551346678, "task_success": 0.0 }, { "completion_time": 0.5056064128875732, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.000540832695982596, "book-upper shelf": 0.5935014644692709, "book-lower shelf": 0.3781835929537099 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.314896792102306, "bimanual_gripper_vertical_difference": 0.07432123887605113, "task_success": 0.0 }, { "completion_time": 0.5353732109069824, "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": 1.3110711030297437, "bimanual_gripper_vertical_difference": 0.07896591242694709, "task_success": 0.0 }, { "completion_time": 0.5658831596374512, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.000563283730251829, "book-upper shelf": 0.5934740342075444, "book-lower shelf": 0.37815516252272163 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3101400662387617, "bimanual_gripper_vertical_difference": 0.08402814854061573, "task_success": 0.0 }, { "completion_time": 0.5966362953186035, "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": 0.0006393359269577514, "book-upper shelf": 0.5934146325382278, "book-lower shelf": 0.3781114593326537 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3063692916533018, "bimanual_gripper_vertical_difference": 0.08891039461430363, "task_success": 0.0 }, { "completion_time": 0.6269338130950928, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007188927615990881, "book-upper shelf": 0.5933403300892909, "book-lower shelf": 0.3780466566996537 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2955088399098322, "bimanual_gripper_vertical_difference": 0.09347373107082702, "task_success": 0.0 }, { "completion_time": 0.6593973636627197, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0006824478899479791, "book-upper shelf": 0.5933708329581678, "book-lower shelf": 0.3780707942433326 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2777402464639178, "bimanual_gripper_vertical_difference": 0.09777251764248403, "task_success": 0.0 }, { "completion_time": 0.689366340637207, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005426481893560098, "book-upper shelf": 0.5934870041788917, "book-lower shelf": 0.3781620814163599 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2558848377622702, "bimanual_gripper_vertical_difference": 0.10183836366506971, "task_success": 0.0 }, { "completion_time": 0.7193934917449951, "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": 0.0005697075028375798, "book-upper shelf": 0.5934640746489145, "book-lower shelf": 0.3781437146769772 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.214326266147106, "bimanual_gripper_vertical_difference": 0.10558509656951545, "task_success": 0.0 }, { "completion_time": 0.7491655349731445, "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": 0.0006010423932943931, "book-upper shelf": 0.59344698858595, "book-lower shelf": 0.3781373033427318 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1637561995652979, "bimanual_gripper_vertical_difference": 0.1090127437766016, "task_success": 0.0 }, { "completion_time": 0.780250072479248, "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": 0.000647375942930295, "book-upper shelf": 0.5933954141072788, "book-lower shelf": 0.37808653289636557 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1172212915587707, "bimanual_gripper_vertical_difference": 0.11215927697524773, "task_success": 0.0 }, { "completion_time": 0.8117713928222656, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005612072356447895, "book-upper shelf": 0.5934727108382519, "book-lower shelf": 0.3781517335725765 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0743780696361243, "bimanual_gripper_vertical_difference": 0.11505951543609577, "task_success": 0.0 }, { "completion_time": 0.8464791774749756, "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": 0.0005296471480110698, "book-upper shelf": 0.5934929630682471, "book-lower shelf": 0.3781629682301667 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0409651188177307, "bimanual_gripper_vertical_difference": 0.11783147870254854, "task_success": 0.0 }, { "completion_time": 0.8776447772979736, "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": 0.0005286125105280481, "book-upper shelf": 0.5934981355478431, "book-lower shelf": 0.378170412275552 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0334368241998009, "bimanual_gripper_vertical_difference": 0.12060956874771642, "task_success": 0.0 }, { "completion_time": 0.9088709354400635, "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": 0.00044595630905464034, "book-upper shelf": 0.5935657250976486, "book-lower shelf": 0.3782226722266546 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0370147464939665, "bimanual_gripper_vertical_difference": 0.12346272585171297, "task_success": 0.0 }, { "completion_time": 0.9398460388183594, "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": 0.0005564527648698192, "book-upper shelf": 0.5934634775449109, "book-lower shelf": 0.37813414674532203 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0455712156967396, "bimanual_gripper_vertical_difference": 0.1263760487867787, "task_success": 0.0 }, { "completion_time": 0.9721574783325195, "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": 0.0007179572734083983, "book-upper shelf": 0.5933187963348067, "book-lower shelf": 0.37801224945012374 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.053613520187812, "bimanual_gripper_vertical_difference": 0.1293278456434543, "task_success": 0.0 }, { "completion_time": 1.004018783569336, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007149288319033831, "book-upper shelf": 0.5933235620869796, "book-lower shelf": 0.3780177570190652 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0600303676715157, "bimanual_gripper_vertical_difference": 0.1323371819777025, "task_success": 0.0 }, { "completion_time": 1.0355238914489746, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0004954045080119984, "book-upper shelf": 0.593507271487877, "book-lower shelf": 0.37816312862318896 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0622738723292202, "bimanual_gripper_vertical_difference": 0.13541531442798285, "task_success": 0.0 }, { "completion_time": 1.0660181045532227, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005739754973546063, "book-upper shelf": 0.5934523567567166, "book-lower shelf": 0.37812810337874525 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0583207315614838, "bimanual_gripper_vertical_difference": 0.13854096253069603, "task_success": 0.0 }, { "completion_time": 1.096541404724121, "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": 0.0005610560285210786, "book-upper shelf": 0.593445718776885, "book-lower shelf": 0.37810927225725 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0466909037925864, "bimanual_gripper_vertical_difference": 0.14164893087090405, "task_success": 0.0 }, { "completion_time": 1.1274394989013672, "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": 0.000594691752376364, "book-upper shelf": 0.5934211373393637, "book-lower shelf": 0.3780925955180975 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.031882738020576, "bimanual_gripper_vertical_difference": 0.1446849233836169, "task_success": 0.0 }, { "completion_time": 1.158559799194336, "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": 0.0006015265241113843, "book-upper shelf": 0.593408056722933, "book-lower shelf": 0.3780765162126423 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.015129760538971, "bimanual_gripper_vertical_difference": 0.14762515904899223, "task_success": 0.0 }, { "completion_time": 1.1892738342285156, "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": 0.000532322864888024, "book-upper shelf": 0.5934674431022471, "book-lower shelf": 0.37812465802723605 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9969744746649054, "bimanual_gripper_vertical_difference": 0.15045888145157535, "task_success": 0.0 }, { "completion_time": 1.2203278541564941, "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": 0.0005703191419745846, "book-upper shelf": 0.5934461076953843, "book-lower shelf": 0.37811591475538936 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9774618213605205, "bimanual_gripper_vertical_difference": 0.1531769908818812, "task_success": 0.0 }, { "completion_time": 1.2520859241485596, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0006559820690104079, "book-upper shelf": 0.5933507343124538, "book-lower shelf": 0.3780220110918834 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9616953484151054, "bimanual_gripper_vertical_difference": 0.15573781998227412, "task_success": 0.0 }, { "completion_time": 1.286299705505371, "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": 0.0005254008870840821, "book-upper shelf": 0.593476258124481, "book-lower shelf": 0.37813398579785096 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9478973219122465, "bimanual_gripper_vertical_difference": 0.15807508829250183, "task_success": 0.0 }, { "completion_time": 1.3172721862792969, "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": 0.000578216198226178, "book-upper shelf": 0.593424992413814, "book-lower shelf": 0.3780879167325773 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9384497401038946, "bimanual_gripper_vertical_difference": 0.16020909596739047, "task_success": 0.0 }, { "completion_time": 1.349679708480835, "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": 0.0004465532624337021, "book-upper shelf": 0.5935309364866274, "book-lower shelf": 0.37816846287330436 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.943489708177972, "bimanual_gripper_vertical_difference": 0.16217416119228567, "task_success": 0.0 }, { "completion_time": 1.381342887878418, "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": 0.0005486035977941839, "book-upper shelf": 0.593431269700961, "book-lower shelf": 0.37807848430146246 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9651851990834718, "bimanual_gripper_vertical_difference": 0.16402940969310145, "task_success": 0.0 }, { "completion_time": 1.4132261276245117, "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": 0.0005600846612049404, "book-upper shelf": 0.5934309956796426, "book-lower shelf": 0.37808553121719946 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9823267190712078, "bimanual_gripper_vertical_difference": 0.16585340871100318, "task_success": 0.0 }, { "completion_time": 1.4449641704559326, "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": 0.0005850912035084699, "book-upper shelf": 0.5934038091364834, "book-lower shelf": 0.37805914544139335 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9920911777232287, "bimanual_gripper_vertical_difference": 0.16766471798692342, "task_success": 0.0 }, { "completion_time": 1.4765138626098633, "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": 0.0005914589804364434, "book-upper shelf": 0.5933911701289294, "book-lower shelf": 0.37804345431829606 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9969113213740805, "bimanual_gripper_vertical_difference": 0.16946065738301913, "task_success": 0.0 }, { "completion_time": 1.5073139667510986, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005217845313718605, "book-upper shelf": 0.5934509472817692, "book-lower shelf": 0.37809190445339685 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.993244048782552, "bimanual_gripper_vertical_difference": 0.1712620955608508, "task_success": 0.0 }, { "completion_time": 1.5379652976989746, "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": 0.0005223561757260464, "book-upper shelf": 0.5934483253895173, "book-lower shelf": 0.3780881614087531 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9856476630140065, "bimanual_gripper_vertical_difference": 0.17308162641640773, "task_success": 0.0 }, { "completion_time": 1.568329095840454, "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": 0.0005527973819426935, "book-upper shelf": 0.5934272062677741, "book-lower shelf": 0.37807483756601795 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9773076802634946, "bimanual_gripper_vertical_difference": 0.17491651779790857, "task_success": 0.0 }, { "completion_time": 1.599257469177246, "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": 0.0005585042004710994, "book-upper shelf": 0.5934562714175281, "book-lower shelf": 0.3781241728180944 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9723437036111524, "bimanual_gripper_vertical_difference": 0.17674601576472157, "task_success": 0.0 }, { "completion_time": 1.6295087337493896, "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": 0.00012360425223723048, "book-upper shelf": 0.5940765386906629, "book-lower shelf": 0.3788143494223019 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9725437134484323, "bimanual_gripper_vertical_difference": 0.17848836371038715, "task_success": 0.0 }, { "completion_time": 1.660912275314331, "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": 0.0005697755244201685, "book-upper shelf": 0.5937766156012729, "book-lower shelf": 0.3786340763625759 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9733933160240678, "bimanual_gripper_vertical_difference": 0.18016334887970548, "task_success": 0.0 }, { "completion_time": 1.6920442581176758, "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": 0.00046673280038300735, "book-upper shelf": 0.5941535752135769, "book-lower shelf": 0.3791580436938936 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9724837011748044, "bimanual_gripper_vertical_difference": 0.1817747871268987, "task_success": 0.0 }, { "completion_time": 1.7236473560333252, "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": 2.1343126147432834e-05, "book-upper shelf": 0.5948267083288217, "book-lower shelf": 0.3799234553899488 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9693068746805438, "bimanual_gripper_vertical_difference": 0.18332613337767753, "task_success": 0.0 }, { "completion_time": 1.7542593479156494, "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": 0.0007881473261519556, "book-upper shelf": 0.5945337639162085, "book-lower shelf": 0.3799618772691886 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9647059158312743, "bimanual_gripper_vertical_difference": 0.18481142454673063, "task_success": 0.0 }, { "completion_time": 1.7854483127593994, "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": 0.0008306311043372316, "book-upper shelf": 0.5948948523345834, "book-lower shelf": 0.38055411995175736 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9580576929211267, "bimanual_gripper_vertical_difference": 0.18623496446750268, "task_success": 0.0 }, { "completion_time": 1.8197145462036133, "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": 0.0007279299595138733, "book-upper shelf": 0.5953617607515574, "book-lower shelf": 0.38121726595816036 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.950551408900805, "bimanual_gripper_vertical_difference": 0.18759852235743385, "task_success": 0.0 }, { "completion_time": 1.851302146911621, "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": 0.00033632429141416953, "book-upper shelf": 0.5958321147513357, "book-lower shelf": 0.3816988871580074 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9426957634024333, "bimanual_gripper_vertical_difference": 0.18890083154320603, "task_success": 0.0 }, { "completion_time": 1.8813929557800293, "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": 0.00047187200137155383, "book-upper shelf": 0.5958480953076587, "book-lower shelf": 0.3818112552557751 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9345461612594975, "bimanual_gripper_vertical_difference": 0.1901394411360942, "task_success": 0.0 }, { "completion_time": 1.913261890411377, "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": 0.0005335468349948469, "book-upper shelf": 0.5960846127331946, "book-lower shelf": 0.3822199880530264 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9255743200589607, "bimanual_gripper_vertical_difference": 0.1913227867841786, "task_success": 0.0 }, { "completion_time": 1.9433069229125977, "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": 0.0007339548965319409, "book-upper shelf": 0.5959798916451291, "book-lower shelf": 0.38218578718338997 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9165246632322805, "bimanual_gripper_vertical_difference": 0.19245093986454748, "task_success": 0.0 }, { "completion_time": 1.9739329814910889, "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": 0.0007709605204999637, "book-upper shelf": 0.595991672470767, "book-lower shelf": 0.38222799708240934 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9099198893521908, "bimanual_gripper_vertical_difference": 0.1935320474180658, "task_success": 0.0 }, { "completion_time": 2.004591226577759, "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": 5.694276565149092e-05, "book-upper shelf": 0.5970192826463558, "book-lower shelf": 0.3833700221824076 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9069095325943451, "bimanual_gripper_vertical_difference": 0.1945752670029619, "task_success": 0.0 }, { "completion_time": 2.03507924079895, "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": -9.296484531695626e-05, "book-upper shelf": 0.5974797828098828, "book-lower shelf": 0.3839906495219189 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9035899050661587, "bimanual_gripper_vertical_difference": 0.1955814844750035, "task_success": 0.0 }, { "completion_time": 2.064976215362549, "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": -0.00020475859624358161, "book-upper shelf": 0.5978083554273077, "book-lower shelf": 0.3844301042321048 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8999893185316178, "bimanual_gripper_vertical_difference": 0.19654915499034997, "task_success": 0.0 }, { "completion_time": 2.0957179069519043, "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": 5.528568978940829e-05, "book-upper shelf": 0.5978074346295671, "book-lower shelf": 0.38459519358404376 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8935782314770404, "bimanual_gripper_vertical_difference": 0.19748318586357008, "task_success": 0.0 }, { "completion_time": 2.1272077560424805, "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": 0.00020045704184079582, "book-upper shelf": 0.5977829117057644, "book-lower shelf": 0.38465001389462755 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8848332343756918, "bimanual_gripper_vertical_difference": 0.19838051346145022, "task_success": 0.0 }, { "completion_time": 2.158907413482666, "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": -4.3473378061209544e-05, "book-upper shelf": 0.5980971980673156, "book-lower shelf": 0.3849822833101385 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8779684244774407, "bimanual_gripper_vertical_difference": 0.19924879327839715, "task_success": 0.0 }, { "completion_time": 2.1901495456695557, "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": 0.0006382548927331699, "book-upper shelf": 0.5976338139904649, "book-lower shelf": 0.38469857400005525 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8700214320204432, "bimanual_gripper_vertical_difference": 0.20007960501062333, "task_success": 0.0 }, { "completion_time": 2.22164249420166, "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": 0.0006692423324055063, "book-upper shelf": 0.597717968767911, "book-lower shelf": 0.3848491225994351 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8623467685460829, "bimanual_gripper_vertical_difference": 0.2008886326170408, "task_success": 0.0 }, { "completion_time": 2.2544052600860596, "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": 0.0007552533945005546, "book-upper shelf": 0.5976472900848788, "book-lower shelf": 0.3847943820675494 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8628560908771296, "bimanual_gripper_vertical_difference": 0.20166814664095575, "task_success": 0.0 }, { "completion_time": 2.285717248916626, "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": 0.0007716635301696639, "book-upper shelf": 0.597632489065613, "book-lower shelf": 0.3847818944324166 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8678227772253013, "bimanual_gripper_vertical_difference": 0.2023669425866151, "task_success": 0.0 }, { "completion_time": 2.3157191276550293, "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": 0.0007712822252584628, "book-upper shelf": 0.5976330028348286, "book-lower shelf": 0.38478244840430365 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8754692061713543, "bimanual_gripper_vertical_difference": 0.2029215333017888, "task_success": 0.0 }, { "completion_time": 2.3462367057800293, "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": 0.0007707872606909083, "book-upper shelf": 0.5976336207787292, "book-lower shelf": 0.3847830914455954 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8833277835908682, "bimanual_gripper_vertical_difference": 0.20330554706338877, "task_success": 0.0 }, { "completion_time": 2.3764455318450928, "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": 0.0007702915166940549, "book-upper shelf": 0.5976342394432114, "book-lower shelf": 0.3847837351072295 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8844826232341084, "bimanual_gripper_vertical_difference": 0.20355367832063478, "task_success": 0.0 }, { "completion_time": 2.406813621520996, "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": 0.0007697957488261853, "book-upper shelf": 0.5976348581358151, "book-lower shelf": 0.384784378797184 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8829370623561669, "bimanual_gripper_vertical_difference": 0.20373758789130345, "task_success": 0.0 }, { "completion_time": 2.436988592147827, "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": 0.0007363690595504346, "book-upper shelf": 0.5976641211158313, "book-lower shelf": 0.384808439620784 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8900776353783711, "bimanual_gripper_vertical_difference": 0.20392135040848489, "task_success": 0.0 }, { "completion_time": 2.4681360721588135, "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": 0.0005230562677778217, "book-upper shelf": 0.5978623648878082, "book-lower shelf": 0.3849798631089707 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9015705316145181, "bimanual_gripper_vertical_difference": 0.2041464727041383, "task_success": 0.0 }, { "completion_time": 2.498685598373413, "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": 0.0005472424627629424, "book-upper shelf": 0.5978412195014179, "book-lower shelf": 0.38496249411701694 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9121377938361619, "bimanual_gripper_vertical_difference": 0.2044218543564072, "task_success": 0.0 }, { "completion_time": 2.5312678813934326, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005715946284998719, "book-upper shelf": 0.5978245635769903, "book-lower shelf": 0.38495220376283085 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9209423239278905, "bimanual_gripper_vertical_difference": 0.2047503904336857, "task_success": 0.0 }, { "completion_time": 2.561295747756958, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005806211965458941, "book-upper shelf": 0.597818198654553, "book-lower shelf": 0.3849480927889364 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9260990453891755, "bimanual_gripper_vertical_difference": 0.2051513856022042, "task_success": 0.0 }, { "completion_time": 2.59165358543396, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0004851185239539424, "book-upper shelf": 0.5979006840651029, "book-lower shelf": 0.385015107773415 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9279108066799218, "bimanual_gripper_vertical_difference": 0.20564174326398638, "task_success": 0.0 }, { "completion_time": 2.6214427947998047, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005548418208437544, "book-upper shelf": 0.597837541715196, "book-lower shelf": 0.38496164319292725 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9266885135853891, "bimanual_gripper_vertical_difference": 0.20621951346013445, "task_success": 0.0 }, { "completion_time": 2.6508615016937256, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.00030292616823646146, "book-upper shelf": 0.5983976147946294, "book-lower shelf": 0.38567005325121295 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9281245557939097, "bimanual_gripper_vertical_difference": 0.206824383811241, "task_success": 0.0 }, { "completion_time": 2.6806840896606445, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0006811426736115234, "book-upper shelf": 0.5983920525709957, "book-lower shelf": 0.3859028192183367 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9324620087032014, "bimanual_gripper_vertical_difference": 0.20740722141158544, "task_success": 0.0 }, { "completion_time": 2.710325241088867, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0006964586367084191, "book-upper shelf": 0.5986874172706647, "book-lower shelf": 0.38637042232132546 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9392435022398571, "bimanual_gripper_vertical_difference": 0.2079764179644169, "task_success": 0.0 }, { "completion_time": 2.739312171936035, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007149810751245766, "book-upper shelf": 0.5986729562219321, "book-lower shelf": 0.3863598187348482 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9439418166750584, "bimanual_gripper_vertical_difference": 0.20853419859973046, "task_success": 0.0 }, { "completion_time": 2.769712448120117, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007185619479159744, "book-upper shelf": 0.5986707132779169, "book-lower shelf": 0.38635862531954573 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9455326519855881, "bimanual_gripper_vertical_difference": 0.2090874888201792, "task_success": 0.0 }, { "completion_time": 2.8017513751983643, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007220475278860716, "book-upper shelf": 0.5986682384812241, "book-lower shelf": 0.38635701192314786 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9443714790271209, "bimanual_gripper_vertical_difference": 0.20963573385985487, "task_success": 0.0 }, { "completion_time": 2.8315651416778564, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007268482086343342, "book-upper shelf": 0.5986643083321233, "book-lower shelf": 0.3863539815531608 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9405157530607303, "bimanual_gripper_vertical_difference": 0.21017680192033047, "task_success": 0.0 }, { "completion_time": 2.8603034019470215, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007319418600912897, "book-upper shelf": 0.5986599421407524, "book-lower shelf": 0.3863504622539278 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9345765595981884, "bimanual_gripper_vertical_difference": 0.21070984167734388, "task_success": 0.0 }, { "completion_time": 2.89009428024292, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0006125658070552653, "book-upper shelf": 0.5987692864692017, "book-lower shelf": 0.38644381873890904 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.927384366057742, "bimanual_gripper_vertical_difference": 0.21123177117004904, "task_success": 0.0 }, { "completion_time": 2.9206721782684326, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.000680846199622831, "book-upper shelf": 0.5987269842861669, "book-lower shelf": 0.3864217812369322 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9203176164473954, "bimanual_gripper_vertical_difference": 0.21174128741720935, "task_success": 0.0 }, { "completion_time": 2.9510958194732666, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007150300799806386, "book-upper shelf": 0.5986961129143388, "book-lower shelf": 0.3863957307896884 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9138039480583131, "bimanual_gripper_vertical_difference": 0.21223901539364864, "task_success": 0.0 }, { "completion_time": 2.9811692237854004, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005463170209936141, "book-upper shelf": 0.598873283572581, "book-lower shelf": 0.3865627402958781 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9081681078151852, "bimanual_gripper_vertical_difference": 0.2127241899756218, "task_success": 0.0 }, { "completion_time": 3.0111703872680664, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007703402754757338, "book-upper shelf": 0.598664122145111, "book-lower shelf": 0.3863814097536828 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9031214552849091, "bimanual_gripper_vertical_difference": 0.21319904080645724, "task_success": 0.0 }, { "completion_time": 3.04233455657959, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007192534003077622, "book-upper shelf": 0.5987184833377656, "book-lower shelf": 0.3864330824581705 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8993673427395843, "bimanual_gripper_vertical_difference": 0.21366584215990359, "task_success": 0.0 }, { "completion_time": 3.0734641551971436, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.00047309406552697997, "book-upper shelf": 0.5989089599911307, "book-lower shelf": 0.38657137260973634 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9010486722052583, "bimanual_gripper_vertical_difference": 0.2141207122163267, "task_success": 0.0 }, { "completion_time": 3.1046364307403564, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007259704281981083, "book-upper shelf": 0.5986757390857081, "book-lower shelf": 0.3863711341418309 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9088503421750006, "bimanual_gripper_vertical_difference": 0.21454434502070532, "task_success": 0.0 }, { "completion_time": 3.1369946002960205, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007269401339734527, "book-upper shelf": 0.5986750464037022, "book-lower shelf": 0.386370678812858 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9166261133367545, "bimanual_gripper_vertical_difference": 0.21490839265755532, "task_success": 0.0 }, { "completion_time": 3.1665453910827637, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007261116807171231, "book-upper shelf": 0.5986759992825873, "book-lower shelf": 0.3863716273292244 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9240878805099035, "bimanual_gripper_vertical_difference": 0.21518571147675014, "task_success": 0.0 }, { "completion_time": 3.1961004734039307, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007252711444971638, "book-upper shelf": 0.5986769632235472, "book-lower shelf": 0.38637258528593443 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9311382585100256, "bimanual_gripper_vertical_difference": 0.21536558747263587, "task_success": 0.0 }, { "completion_time": 3.225696325302124, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007244304868772034, "book-upper shelf": 0.5986779272802443, "book-lower shelf": 0.3863735433446415 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9386813941893801, "bimanual_gripper_vertical_difference": 0.21544813994233625, "task_success": 0.0 }, { "completion_time": 3.256032943725586, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007235897879657172, "book-upper shelf": 0.5986788913793691, "book-lower shelf": 0.38637450144280555 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9499636631515533, "bimanual_gripper_vertical_difference": 0.21544225694934796, "task_success": 0.0 }, { "completion_time": 3.2861757278442383, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007227490482997201, "book-upper shelf": 0.5986798555204297, "book-lower shelf": 0.3863754595800064 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9645928387394622, "bimanual_gripper_vertical_difference": 0.21536720944044907, "task_success": 0.0 }, { "completion_time": 3.3165321350097656, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007219082678827649, "book-upper shelf": 0.5986808197034221, "book-lower shelf": 0.3863764177562401 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.978891564103029, "bimanual_gripper_vertical_difference": 0.21522938744887016, "task_success": 0.0 }, { "completion_time": 3.346464157104492, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007210674467154066, "book-upper shelf": 0.5986817839283453, "book-lower shelf": 0.38637737597150557 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.991744544628159, "bimanual_gripper_vertical_difference": 0.21503426538105266, "task_success": 0.0 }, { "completion_time": 3.375856876373291, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007202265847977563, "book-upper shelf": 0.5986827481951984, "book-lower shelf": 0.3863783342258016 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0023399076497916, "bimanual_gripper_vertical_difference": 0.21478476649347505, "task_success": 0.0 }, { "completion_time": 3.405724287033081, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007194346986977296, "book-upper shelf": 0.5986836676558899, "book-lower shelf": 0.38637925426470415 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.013525505947608, "bimanual_gripper_vertical_difference": 0.21448666976325748, "task_success": 0.0 }, { "completion_time": 3.436788558959961, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.000718715881176557, "book-upper shelf": 0.598684520263775, "book-lower shelf": 0.38638011728092303 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0139009533280126, "bimanual_gripper_vertical_difference": 0.2141902931210759, "task_success": 0.0 }, { "completion_time": 3.4675004482269287, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007187586024381964, "book-upper shelf": 0.5986846761107687, "book-lower shelf": 0.38638038598574675 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0057024006059225, "bimanual_gripper_vertical_difference": 0.2138988829611686, "task_success": 0.0 }, { "completion_time": 3.497957944869995, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007197288992035755, "book-upper shelf": 0.5986839832494143, "book-lower shelf": 0.3863799307503751 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0021813862167652, "bimanual_gripper_vertical_difference": 0.2136124612512688, "task_success": 0.0 }, { "completion_time": 3.528385877609253, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007207130309481169, "book-upper shelf": 0.5986832777481712, "book-lower shelf": 0.3863794647470929 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9951751837543953, "bimanual_gripper_vertical_difference": 0.21333057095448432, "task_success": 0.0 }, { "completion_time": 3.5582077503204346, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007216973108657987, "book-upper shelf": 0.5986825721310358, "book-lower shelf": 0.3863789986593904 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.996230294294703, "bimanual_gripper_vertical_difference": 0.21305921474696352, "task_success": 0.0 }, { "completion_time": 3.587606191635132, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.000722681647669754, "book-upper shelf": 0.5986818664815406, "book-lower shelf": 0.3863785325585257 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0053141568502941, "bimanual_gripper_vertical_difference": 0.21278138155979687, "task_success": 0.0 }, { "completion_time": 3.617384195327759, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007236660407531348, "book-upper shelf": 0.5986811608002436, "book-lower shelf": 0.38637806644497596 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0174571669552885, "bimanual_gripper_vertical_difference": 0.21247658737131453, "task_success": 0.0 }, { "completion_time": 3.64752197265625, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007246504901141648, "book-upper shelf": 0.5986804550871483, "book-lower shelf": 0.3863776003187463 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0297753834994967, "bimanual_gripper_vertical_difference": 0.21214521785196314, "task_success": 0.0 }, { "completion_time": 3.677278518676758, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007256349957548425, "book-upper shelf": 0.5986797493422553, "book-lower shelf": 0.3863771341798389 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0413382745195296, "bimanual_gripper_vertical_difference": 0.2118011822486163, "task_success": 0.0 }, { "completion_time": 3.707188129425049, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007266195576774992, "book-upper shelf": 0.5986790435655649, "book-lower shelf": 0.38637666802825554 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0544231426086412, "bimanual_gripper_vertical_difference": 0.21145929522972487, "task_success": 0.0 }, { "completion_time": 3.740574598312378, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007276041758843554, "book-upper shelf": 0.5986783377570772, "book-lower shelf": 0.38637620186399824 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0682667505126202, "bimanual_gripper_vertical_difference": 0.21113370308933052, "task_success": 0.0 }, { "completion_time": 3.7706658840179443, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007285888503776317, "book-upper shelf": 0.5986776319167926, "book-lower shelf": 0.3863757356870689 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0787004357226928, "bimanual_gripper_vertical_difference": 0.2108300028557746, "task_success": 0.0 }, { "completion_time": 3.8038740158081055, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007295735811595483, "book-upper shelf": 0.5986769260447112, "book-lower shelf": 0.38637526949746953 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.087709862256129, "bimanual_gripper_vertical_difference": 0.21053397789982128, "task_success": 0.0 }, { "completion_time": 3.8344573974609375, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007305583682321037, "book-upper shelf": 0.5986762201408335, "book-lower shelf": 0.38637480329520213 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0972172199135346, "bimanual_gripper_vertical_difference": 0.21023912773309478, "task_success": 0.0 }, { "completion_time": 3.8643529415130615, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007315432115977405, "book-upper shelf": 0.5986755142051597, "book-lower shelf": 0.3863743370802685 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.106445497771812, "bimanual_gripper_vertical_difference": 0.2099453635012006, "task_success": 0.0 }, { "completion_time": 3.8948605060577393, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.00073252811125879, "book-upper shelf": 0.5986748082376898, "book-lower shelf": 0.38637387085267055 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.116931609080241, "bimanual_gripper_vertical_difference": 0.2096572631279388, "task_success": 0.0 }, { "completion_time": 3.925579071044922, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007335130672170287, "book-upper shelf": 0.5986741022384244, "book-lower shelf": 0.3863734046124106 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1289555538342384, "bimanual_gripper_vertical_difference": 0.2093834584725629, "task_success": 0.0 }, { "completion_time": 3.955815553665161, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.00073449807947501, "book-upper shelf": 0.5986733962073637, "book-lower shelf": 0.38637293835949027 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.143092560343589, "bimanual_gripper_vertical_difference": 0.2091329799376593, "task_success": 0.0 }, { "completion_time": 3.986314296722412, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007354831480348434, "book-upper shelf": 0.5986726901445079, "book-lower shelf": 0.3863724720939115 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1593998640866237, "bimanual_gripper_vertical_difference": 0.2089228670268329, "task_success": 0.0 }, { "completion_time": 4.0163068771362305, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007364682728987493, "book-upper shelf": 0.5986719840498572, "book-lower shelf": 0.3863720058156764 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1772451091038316, "bimanual_gripper_vertical_difference": 0.20877748393116424, "task_success": 0.0 }, { "completion_time": 4.046469449996948, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005594878932387859, "book-upper shelf": 0.5988370224609684, "book-lower shelf": 0.38651495168233013 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1949345989360556, "bimanual_gripper_vertical_difference": 0.20870289824115343, "task_success": 0.0 }, { "completion_time": 4.0762763023376465, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005680574652392467, "book-upper shelf": 0.5988313712489572, "book-lower shelf": 0.3865116552986519 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.21059117252281, "bimanual_gripper_vertical_difference": 0.20867659489821194, "task_success": 0.0 }, { "completion_time": 4.105835199356079, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005607746272952019, "book-upper shelf": 0.5988426919758497, "book-lower shelf": 0.3865245552214538 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.225068335562892, "bimanual_gripper_vertical_difference": 0.20865761565715116, "task_success": 0.0 }, { "completion_time": 4.1355507373809814, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.00042495514088436437, "book-upper shelf": 0.5989589564407345, "book-lower shelf": 0.3866181698406147 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.239424150106382, "bimanual_gripper_vertical_difference": 0.2086213651562201, "task_success": 0.0 }, { "completion_time": 4.165192127227783, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005646485172825511, "book-upper shelf": 0.598833018777262, "book-lower shelf": 0.3865120362049139 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2536553960564045, "bimanual_gripper_vertical_difference": 0.20856777491767112, "task_success": 0.0 }, { "completion_time": 4.19514274597168, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005575426925213955, "book-upper shelf": 0.5988441755867826, "book-lower shelf": 0.3865247949668919 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.267861461291032, "bimanual_gripper_vertical_difference": 0.20849866055777946, "task_success": 0.0 }, { "completion_time": 4.224863052368164, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005192925948509508, "book-upper shelf": 0.5988705399060996, "book-lower shelf": 0.3865412756703399 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2818124651137568, "bimanual_gripper_vertical_difference": 0.20841499172373848, "task_success": 0.0 }, { "completion_time": 4.254587411880493, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005641907075563113, "book-upper shelf": 0.5988319532485445, "book-lower shelf": 0.38651009370577627 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.291837783374055, "bimanual_gripper_vertical_difference": 0.20833319016824484, "task_success": 0.0 }, { "completion_time": 4.2840471267700195, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005543126976326196, "book-upper shelf": 0.5988456578847019, "book-lower shelf": 0.38652503391936555 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3017285599622448, "bimanual_gripper_vertical_difference": 0.20827797719427965, "task_success": 0.0 }, { "completion_time": 4.314538478851318, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005178134434744575, "book-upper shelf": 0.5988823468702987, "book-lower shelf": 0.386558625843757 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3128610041055697, "bimanual_gripper_vertical_difference": 0.20826703629228605, "task_success": 0.0 }, { "completion_time": 4.348509311676025, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0006117083450870586, "book-upper shelf": 0.5987868631309485, "book-lower shelf": 0.38647050576173314 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3234663284799784, "bimanual_gripper_vertical_difference": 0.20831261945063467, "task_success": 0.0 }, { "completion_time": 4.380202531814575, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005510671952930757, "book-upper shelf": 0.5988471549915179, "book-lower shelf": 0.38652528594235186 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.336661771371651, "bimanual_gripper_vertical_difference": 0.20839797980145675, "task_success": 0.0 }, { "completion_time": 4.411084890365601, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005145819090058845, "book-upper shelf": 0.5988838324242607, "book-lower shelf": 0.38655886898551617 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3499989366673404, "bimanual_gripper_vertical_difference": 0.2084453284957349, "task_success": 0.0 }, { "completion_time": 4.441819906234741, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0004194629722752419, "book-upper shelf": 0.5989606534075578, "book-lower shelf": 0.3866173010385282 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.365564875458061, "bimanual_gripper_vertical_difference": 0.20843855777285863, "task_success": 0.0 }, { "completion_time": 4.472490072250366, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005476248295755992, "book-upper shelf": 0.598848834352739, "book-lower shelf": 0.3865256949337553 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3773507072053963, "bimanual_gripper_vertical_difference": 0.2083541421287492, "task_success": 0.0 }, { "completion_time": 4.5030505657196045, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005113509160998841, "book-upper shelf": 0.5988853179140025, "book-lower shelf": 0.38655911237829393 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.38601252171809, "bimanual_gripper_vertical_difference": 0.20816587118928692, "task_success": 0.0 }, { "completion_time": 4.534397602081299, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005348155104800689, "book-upper shelf": 0.5988648954512196, "book-lower shelf": 0.386542418749889 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3932129561831805, "bimanual_gripper_vertical_difference": 0.2079352870979873, "task_success": 0.0 }, { "completion_time": 4.565469980239868, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005485893114862694, "book-upper shelf": 0.5988464881339731, "book-lower shelf": 0.38652267429983567 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.401544515139327, "bimanual_gripper_vertical_difference": 0.20771211031857797, "task_success": 0.0 }, { "completion_time": 4.596921682357788, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005081220619692628, "book-upper shelf": 0.5988868019182131, "book-lower shelf": 0.3865593548374567 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4114086065059126, "bimanual_gripper_vertical_difference": 0.2075181363072632, "task_success": 0.0 }, { "completion_time": 4.628600120544434, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.000531584697930132, "book-upper shelf": 0.598866380181438, "book-lower shelf": 0.3865426610184139 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4211545132509074, "bimanual_gripper_vertical_difference": 0.2073685285852847, "task_success": 0.0 }, { "completion_time": 4.659522294998169, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0006086684738900727, "book-upper shelf": 0.5987898669043245, "book-lower shelf": 0.38647322298997594 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4287166763261452, "bimanual_gripper_vertical_difference": 0.20728512594181883, "task_success": 0.0 }, { "completion_time": 4.690490245819092, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005048705309051993, "book-upper shelf": 0.5988883073353797, "book-lower shelf": 0.38655961603236977 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4376614693720522, "bimanual_gripper_vertical_difference": 0.20728766996869952, "task_success": 0.0 }, { "completion_time": 4.721187114715576, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.000528354111661411, "book-upper shelf": 0.5988678651269872, "book-lower shelf": 0.3865429037702397 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4458964632576856, "bimanual_gripper_vertical_difference": 0.20738773761853932, "task_success": 0.0 }, { "completion_time": 4.752057313919067, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.000423152325507159, "book-upper shelf": 0.5989588856767574, "book-lower shelf": 0.38661691205254484 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4471767201360795, "bimanual_gripper_vertical_difference": 0.2075865250755265, "task_success": 0.0 }, { "completion_time": 4.783359527587891, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005013968868696761, "book-upper shelf": 0.5988900171833951, "book-lower shelf": 0.3865600524756573 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.444129982189228, "bimanual_gripper_vertical_difference": 0.20785133865632147, "task_success": 0.0 }, { "completion_time": 4.814270496368408, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005251242712168702, "book-upper shelf": 0.5988693498228483, "book-lower shelf": 0.3865431466158614 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4432592358890919, "bimanual_gripper_vertical_difference": 0.20815079967753783, "task_success": 0.0 }, { "completion_time": 4.84804630279541, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005559696485105681, "book-upper shelf": 0.5988469634376657, "book-lower shelf": 0.38652811212507704 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.446009929339774, "bimanual_gripper_vertical_difference": 0.20845928744461456, "task_success": 0.0 }, { "completion_time": 4.87964940071106, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.000504011963139539, "book-upper shelf": 0.5988861511380035, "book-lower shelf": 0.38655572859195 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4535142420485572, "bimanual_gripper_vertical_difference": 0.2087345082231667, "task_success": 0.0 }, { "completion_time": 4.9111292362213135, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005218960507241688, "book-upper shelf": 0.5988708335593729, "book-lower shelf": 0.38654338901263124 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4654964744447225, "bimanual_gripper_vertical_difference": 0.20894430500059638, "task_success": 0.0 }, { "completion_time": 4.943385362625122, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.000552739696591642, "book-upper shelf": 0.598848446659435, "book-lower shelf": 0.3865283525448847 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4770387579548017, "bimanual_gripper_vertical_difference": 0.20908149841911872, "task_success": 0.0 }, { "completion_time": 4.977628469467163, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005752267560075186, "book-upper shelf": 0.598819519166665, "book-lower shelf": 0.3864978596862135 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4880297939783547, "bimanual_gripper_vertical_difference": 0.20915481409273126, "task_success": 0.0 }, { "completion_time": 5.0086259841918945, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.000518627890936707, "book-upper shelf": 0.598872354938799, "book-lower shelf": 0.38654366429412806 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.49865162821387, "bimanual_gripper_vertical_difference": 0.20917261002383675, "task_success": 0.0 }, { "completion_time": 5.0391271114349365, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005495100213112059, "book-upper shelf": 0.5988499300524984, "book-lower shelf": 0.38652859341184387 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5090416298628562, "bimanual_gripper_vertical_difference": 0.20914480470908162, "task_success": 0.0 }, { "completion_time": 5.06921911239624, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0004232510447720328, "book-upper shelf": 0.5989554326138148, "book-lower shelf": 0.3866116253112497 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5157132462675575, "bimanual_gripper_vertical_difference": 0.20908689236303185, "task_success": 0.0 }, { "completion_time": 5.099232196807861, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005153538199317298, "book-upper shelf": 0.5988738742361864, "book-lower shelf": 0.38654393259031467 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5201641934287256, "bimanual_gripper_vertical_difference": 0.20900942954290924, "task_success": 0.0 }, { "completion_time": 5.129078149795532, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.000546281358568268, "book-upper shelf": 0.5988514129593193, "book-lower shelf": 0.38652883417601 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.519425781295942, "bimanual_gripper_vertical_difference": 0.2089219365551408, "task_success": 0.0 }, { "completion_time": 5.158832788467407, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005696328808435513, "book-upper shelf": 0.5988314735017172, "book-lower shelf": 0.3865128173288018 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5204375407809014, "bimanual_gripper_vertical_difference": 0.20882778569193364, "task_success": 0.0 }, { "completion_time": 5.1882240772247314, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005231294057030933, "book-upper shelf": 0.5988651698777553, "book-lower shelf": 0.38653539987903185 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5265370993861822, "bimanual_gripper_vertical_difference": 0.2087322584487358, "task_success": 0.0 }, { "completion_time": 5.21745491027832, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005430531154470009, "book-upper shelf": 0.5988528959858356, "book-lower shelf": 0.38652907539846576 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.534803482929188, "bimanual_gripper_vertical_difference": 0.20864895462088015, "task_success": 0.0 }, { "completion_time": 5.247365236282349, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005664038506636437, "book-upper shelf": 0.5988329561016431, "book-lower shelf": 0.3865130573224326 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5435222854360253, "bimanual_gripper_vertical_difference": 0.20859273566633074, "task_success": 0.0 }, { "completion_time": 5.278775453567505, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005619537401843067, "book-upper shelf": 0.5988298221612796, "book-lower shelf": 0.3865053668710317 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5522251141007828, "bimanual_gripper_vertical_difference": 0.20857955859690017, "task_success": 0.0 }, { "completion_time": 5.310309410095215, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005397614531186257, "book-upper shelf": 0.5988544379218309, "book-lower shelf": 0.38652936749661465 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5612178036921456, "bimanual_gripper_vertical_difference": 0.20860986398749826, "task_success": 0.0 }, { "completion_time": 5.341576337814331, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005631751514854066, "book-upper shelf": 0.5988344388247246, "book-lower shelf": 0.3865132977232709 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5702760178992834, "bimanual_gripper_vertical_difference": 0.2086824476365328, "task_success": 0.0 }, { "completion_time": 5.372603893280029, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0004367449978641691, "book-upper shelf": 0.5989450662045293, "book-lower shelf": 0.38660415931044606 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5792748890958468, "bimanual_gripper_vertical_difference": 0.2088089242857856, "task_success": 0.0 }, { "completion_time": 5.4038896560668945, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005368665496426894, "book-upper shelf": 0.5988556194887957, "book-lower shelf": 0.38652935401694527 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.584800894164253, "bimanual_gripper_vertical_difference": 0.20898695908992962, "task_success": 0.0 }, { "completion_time": 5.434504985809326, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005599477496989191, "book-upper shelf": 0.5988359208065924, "book-lower shelf": 0.3865135378077569 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5889038381591207, "bimanual_gripper_vertical_difference": 0.2092015312038965, "task_success": 0.0 }, { "completion_time": 5.464468479156494, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005834938804387679, "book-upper shelf": 0.5988198635801393, "book-lower shelf": 0.38650365997048636 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5932273261432113, "bimanual_gripper_vertical_difference": 0.20944140786368332, "task_success": 0.0 }, { "completion_time": 5.494030237197876, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.000551949836781529, "book-upper shelf": 0.5988403320251292, "book-lower shelf": 0.38651527725065266 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5973897229609306, "bimanual_gripper_vertical_difference": 0.20971119239846583, "task_success": 0.0 }, { "completion_time": 5.523709535598755, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.00055671880578545, "book-upper shelf": 0.5988374047945244, "book-lower shelf": 0.3865137800234339 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6028807448208027, "bimanual_gripper_vertical_difference": 0.21002139421013508, "task_success": 0.0 }, { "completion_time": 5.553293228149414, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005802657346564155, "book-upper shelf": 0.5988213450419586, "book-lower shelf": 0.3865038987253795 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6106951724984424, "bimanual_gripper_vertical_difference": 0.2103725952334065, "task_success": 0.0 }, { "completion_time": 5.584857225418091, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005195218789623146, "book-upper shelf": 0.598867905101753, "book-lower shelf": 0.38653733959522363 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6201103548299187, "bimanual_gripper_vertical_difference": 0.2107566961852613, "task_success": 0.0 }, { "completion_time": 5.614636421203613, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005533978695515529, "book-upper shelf": 0.5988389743439684, "book-lower shelf": 0.386514096205111 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6306149104619425, "bimanual_gripper_vertical_difference": 0.21116618423987915, "task_success": 0.0 }, { "completion_time": 5.645296335220337, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005770379838508921, "book-upper shelf": 0.5988228265708111, "book-lower shelf": 0.38650413784128257 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6408664147695065, "bimanual_gripper_vertical_difference": 0.2115943255856653, "task_success": 0.0 }, { "completion_time": 5.6763341426849365, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0004499835523075202, "book-upper shelf": 0.5989295287088978, "book-lower shelf": 0.3865885194246872 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.65068221769894, "bimanual_gripper_vertical_difference": 0.21202541770711353, "task_success": 0.0 }, { "completion_time": 5.707793951034546, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005510468688848524, "book-upper shelf": 0.5988396451667545, "book-lower shelf": 0.38651363785135273 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.660015347215143, "bimanual_gripper_vertical_difference": 0.2124336322658015, "task_success": 0.0 }, { "completion_time": 5.739606618881226, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005738118430020922, "book-upper shelf": 0.5988243070803816, "book-lower shelf": 0.3865043764091415 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6690008767028182, "bimanual_gripper_vertical_difference": 0.21279250674160222, "task_success": 0.0 }, { "completion_time": 5.770678758621216, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.000582026771692612, "book-upper shelf": 0.598818990796509, "book-lower shelf": 0.38650137310660876 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.677794042808174, "bimanual_gripper_vertical_difference": 0.21308723320862377, "task_success": 0.0 }, { "completion_time": 5.801255464553833, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005751299169218793, "book-upper shelf": 0.5988159900495225, "book-lower shelf": 0.3864923301407289 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6862938865347117, "bimanual_gripper_vertical_difference": 0.21331863078313865, "task_success": 0.0 }, { "completion_time": 5.832509994506836, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005705809583065324, "book-upper shelf": 0.5988257924873363, "book-lower shelf": 0.38650461954812626 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6944879383779432, "bimanual_gripper_vertical_difference": 0.2134939119567918, "task_success": 0.0 }, { "completion_time": 5.86343789100647, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.000578799576661515, "book-upper shelf": 0.5988204722191659, "book-lower shelf": 0.3865016124045796 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6985730515391582, "bimanual_gripper_vertical_difference": 0.21363098870523808, "task_success": 0.0 }, { "completion_time": 5.893824338912964, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0004878143982950389, "book-upper shelf": 0.5988970549428883, "book-lower shelf": 0.386562304435957 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6956589077878481, "bimanual_gripper_vertical_difference": 0.21375641665551243, "task_success": 0.0 }, { "completion_time": 5.926758289337158, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005672244247082459, "book-upper shelf": 0.5988273941979028, "book-lower shelf": 0.3865049628411508 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6914849536707017, "bimanual_gripper_vertical_difference": 0.21389514231080956, "task_success": 0.0 }, { "completion_time": 5.957412242889404, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.00057557283632792, "book-upper shelf": 0.5988219536574847, "book-lower shelf": 0.3865018520220158 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6921463336207134, "bimanual_gripper_vertical_difference": 0.21406241553859462, "task_success": 0.0 }, { "completion_time": 5.98785138130188, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0004804934964425245, "book-upper shelf": 0.5989040242986557, "book-lower shelf": 0.3865684388754319 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6968392389481202, "bimanual_gripper_vertical_difference": 0.21426700429195134, "task_success": 0.0 }, { "completion_time": 6.018343448638916, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005657058802390758, "book-upper shelf": 0.5988273190177695, "book-lower shelf": 0.38650387896342825 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6995260690227358, "bimanual_gripper_vertical_difference": 0.2145100665176278, "task_success": 0.0 }, { "completion_time": 6.047940731048584, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005723479832415723, "book-upper shelf": 0.5988234338369977, "book-lower shelf": 0.3865020908969522 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.702104181228219, "bimanual_gripper_vertical_difference": 0.21479124719850567, "task_success": 0.0 }, { "completion_time": 6.077687740325928, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005650583482288418, "book-upper shelf": 0.5988347596184285, "book-lower shelf": 0.38651499440757814 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.7050047186969046, "bimanual_gripper_vertical_difference": 0.2151070966913194, "task_success": 0.0 }, { "completion_time": 6.107348203659058, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.000600899949297129, "book-upper shelf": 0.5987935860269687, "book-lower shelf": 0.38647403591712465 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.708114354369536, "bimanual_gripper_vertical_difference": 0.21546172073881054, "task_success": 0.0 }, { "completion_time": 6.137154579162598, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.000569113984825842, "book-upper shelf": 0.5988249230760504, "book-lower shelf": 0.38650233798763023 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.7110296287401545, "bimanual_gripper_vertical_difference": 0.21586931107312332, "task_success": 0.0 }, { "completion_time": 6.166698932647705, "slip_count": 1, "slip_count_per_object": { "object_1": 1 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005618320895940387, "book-upper shelf": 0.5988362414018868, "book-lower shelf": 0.38651523491307177 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.7101967915788328, "bimanual_gripper_vertical_difference": 0.2163287417997516, "task_success": 0.0 } ]