[ { "completion_time": 0.11482620239257812, "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": -0.000657602048608652, "book-upper shelf": 0.5945972823904253, "book-lower shelf": 0.37912346364962024 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.00319376887508685, "bimanual_gripper_vertical_difference": 0.00023294324502609598, "task_success": 0.0 }, { "completion_time": 0.13230299949645996, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005674375990556424, "book-upper shelf": 0.5935212470905351, "book-lower shelf": 0.3782319579102221 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.027610162788189122, "bimanual_gripper_vertical_difference": 0.0006137193169362121, "task_success": 0.0 }, { "completion_time": 0.14953851699829102, "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": 0.37809518912618156 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.05409343033201241, "bimanual_gripper_vertical_difference": 0.0011279120061742365, "task_success": 0.0 }, { "completion_time": 0.16605281829833984, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0006505387417129471, "book-upper shelf": 0.5934381687601084, "book-lower shelf": 0.37815569086773426 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.07729273003379647, "bimanual_gripper_vertical_difference": 0.0017008630828689308, "task_success": 0.0 }, { "completion_time": 0.18251943588256836, "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": 0.37825225089010905 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.09458154863301278, "bimanual_gripper_vertical_difference": 0.0023088085342935828, "task_success": 0.0 }, { "completion_time": 0.1991863250732422, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005808829610111088, "book-upper shelf": 0.5934951712886881, "book-lower shelf": 0.37819979210486726 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.10636024227721208, "bimanual_gripper_vertical_difference": 0.0029253686087583977, "task_success": 0.0 }, { "completion_time": 0.21611475944519043, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0006989515326794038, "book-upper shelf": 0.5933881104685269, "book-lower shelf": 0.37810865755569156 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.11429115888693987, "bimanual_gripper_vertical_difference": 0.003527163315198883, "task_success": 0.0 }, { "completion_time": 0.23301458358764648, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0006042795767432496, "book-upper shelf": 0.5934672313678491, "book-lower shelf": 0.37817117919797405 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.12014254486811553, "bimanual_gripper_vertical_difference": 0.004104994368798132, "task_success": 0.0 }, { "completion_time": 0.24976801872253418, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005262332895654698, "book-upper shelf": 0.5935352457917368, "book-lower shelf": 0.37822710131823195 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.12410923527190766, "bimanual_gripper_vertical_difference": 0.00467758979673046, "task_success": 0.0 }, { "completion_time": 0.2665724754333496, "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": 0.12708908627741095, "bimanual_gripper_vertical_difference": 0.005255973616235932, "task_success": 0.0 }, { "completion_time": 0.36954355239868164, "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": 0.5936153230777035, "book-lower shelf": 0.3782875773668042 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.12421980370164337, "bimanual_gripper_vertical_difference": 0.0058418023990845355, "task_success": 0.0 }, { "completion_time": 0.38668060302734375, "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": 0.5935502868075231, "book-lower shelf": 0.3782347596363764 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.12759099174307173, "bimanual_gripper_vertical_difference": 0.006312087784979751, "task_success": 0.0 }, { "completion_time": 0.40358448028564453, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0006576387411730833, "book-upper shelf": 0.5934052872478569, "book-lower shelf": 0.3781087115139508 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.1334419056825606, "bimanual_gripper_vertical_difference": 0.00665450209036997, "task_success": 0.0 }, { "completion_time": 0.4204089641571045, "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": 0.000655369582706844, "book-upper shelf": 0.5934114318189108, "book-lower shelf": 0.3781168771098616 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.1377561944517046, "bimanual_gripper_vertical_difference": 0.006902044331709807, "task_success": 0.0 }, { "completion_time": 0.4371798038482666, "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": 0.5934829113076551, "book-lower shelf": 0.37817326341957697 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.137770825777235, "bimanual_gripper_vertical_difference": 0.007104752793895412, "task_success": 0.0 }, { "completion_time": 0.4539346694946289, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.000540832695982707, "book-upper shelf": 0.5935014644692707, "book-lower shelf": 0.3781835929537097 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.13610268920116952, "bimanual_gripper_vertical_difference": 0.007308445772480007, "task_success": 0.0 }, { "completion_time": 0.4709634780883789, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005064368611521486, "book-upper shelf": 0.5935384436565782, "book-lower shelf": 0.3782192320885577 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.13491220984333105, "bimanual_gripper_vertical_difference": 0.00753352124292793, "task_success": 0.0 }, { "completion_time": 0.4880218505859375, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.000563283730251718, "book-upper shelf": 0.5934740342075444, "book-lower shelf": 0.3781551625227215 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.13356522194375087, "bimanual_gripper_vertical_difference": 0.007767261979331443, "task_success": 0.0 }, { "completion_time": 0.5045936107635498, "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": 0.5934146325382277, "book-lower shelf": 0.37811145933265355 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.1329293768260971, "bimanual_gripper_vertical_difference": 0.007989876984345728, "task_success": 0.0 }, { "completion_time": 0.5213158130645752, "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": 0.5933403300892908, "book-lower shelf": 0.37804665669965354 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.13335352304554188, "bimanual_gripper_vertical_difference": 0.008198384690960282, "task_success": 0.0 }, { "completion_time": 0.6250553131103516, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0006824478899478681, "book-upper shelf": 0.593370832958168, "book-lower shelf": 0.37807079424333256 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.14743640292849408, "bimanual_gripper_vertical_difference": 0.008252060960921919, "task_success": 0.0 }, { "completion_time": 0.6422207355499268, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005426481893560098, "book-upper shelf": 0.5934870041788916, "book-lower shelf": 0.3781620814163597 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.16926095899037766, "bimanual_gripper_vertical_difference": 0.008114252490567964, "task_success": 0.0 }, { "completion_time": 0.6591489315032959, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005697075028376908, "book-upper shelf": 0.5934640746489143, "book-lower shelf": 0.378143714676977 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.21067717490066484, "bimanual_gripper_vertical_difference": 0.007907034768039648, "task_success": 0.0 }, { "completion_time": 0.6763777732849121, "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": 0.3781373033427317 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.2646741201834977, "bimanual_gripper_vertical_difference": 0.008276488630677167, "task_success": 0.0 }, { "completion_time": 0.693310022354126, "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": 0.000647375942930184, "book-upper shelf": 0.5933954141072788, "book-lower shelf": 0.37808653289636557 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.30656430800218, "bimanual_gripper_vertical_difference": 0.009242303749458048, "task_success": 0.0 }, { "completion_time": 0.7103025913238525, "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": 0.0005612072356445674, "book-upper shelf": 0.593472710838252, "book-lower shelf": 0.37815173357257653 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.32232690565539546, "bimanual_gripper_vertical_difference": 0.010581516023745352, "task_success": 0.0 }, { "completion_time": 0.7279057502746582, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005296471480109588, "book-upper shelf": 0.5934929630682472, "book-lower shelf": 0.3781629682301667 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.32661189818475184, "bimanual_gripper_vertical_difference": 0.012088961628738647, "task_success": 0.0 }, { "completion_time": 0.7446777820587158, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005286125105279371, "book-upper shelf": 0.5934981355478431, "book-lower shelf": 0.37817041227555204 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.316532332099624, "bimanual_gripper_vertical_difference": 0.013491107270219325, "task_success": 0.0 }, { "completion_time": 0.76127028465271, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0004459563090544183, "book-upper shelf": 0.5935657250976487, "book-lower shelf": 0.37822267222665473 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.3065051206813671, "bimanual_gripper_vertical_difference": 0.014733268768149744, "task_success": 0.0 }, { "completion_time": 0.7778255939483643, "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": 0.0005564527648697082, "book-upper shelf": 0.5934634775449109, "book-lower shelf": 0.37813414674532203 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.2976105848769347, "bimanual_gripper_vertical_difference": 0.015815048521075372, "task_success": 0.0 }, { "completion_time": 0.8803591728210449, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0007179572734082873, "book-upper shelf": 0.5933187963348067, "book-lower shelf": 0.3780122494501237 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.3043642200664535, "bimanual_gripper_vertical_difference": 0.016802191811083545, "task_success": 0.0 }, { "completion_time": 0.897374153137207, "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": 0.000714928831903161, "book-upper shelf": 0.5933235620869797, "book-lower shelf": 0.3780177570190652 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.31202204734291134, "bimanual_gripper_vertical_difference": 0.01784513206950091, "task_success": 0.0 }, { "completion_time": 0.9161949157714844, "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": 0.0004954045080116654, "book-upper shelf": 0.5935072714878772, "book-lower shelf": 0.37816312862318907 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.33083459672662685, "bimanual_gripper_vertical_difference": 0.018993077384335737, "task_success": 0.0 }, { "completion_time": 0.9328479766845703, "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": 0.0005739754973542732, "book-upper shelf": 0.5934523567567167, "book-lower shelf": 0.37812810337874536 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.36547979445422396, "bimanual_gripper_vertical_difference": 0.02028981643580433, "task_success": 0.0 }, { "completion_time": 0.9497687816619873, "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": 0.0005610560285209676, "book-upper shelf": 0.593445718776885, "book-lower shelf": 0.37810927225725 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.4149996411774038, "bimanual_gripper_vertical_difference": 0.02184076582193476, "task_success": 0.0 }, { "completion_time": 0.9668042659759521, "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": 0.0005946917523761419, "book-upper shelf": 0.593421137339364, "book-lower shelf": 0.3780925955180976 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.4367407970005143, "bimanual_gripper_vertical_difference": 0.023925988724084815, "task_success": 0.0 }, { "completion_time": 0.9838533401489258, "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": 0.0006015265241110512, "book-upper shelf": 0.5934080567229333, "book-lower shelf": 0.3780765162126425 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.4502244408852376, "bimanual_gripper_vertical_difference": 0.02658274427084436, "task_success": 0.0 }, { "completion_time": 1.0010173320770264, "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": 0.000532322864887802, "book-upper shelf": 0.5934674431022472, "book-lower shelf": 0.3781246580272361 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.45531520226601, "bimanual_gripper_vertical_difference": 0.029476406978659813, "task_success": 0.0 }, { "completion_time": 1.017871379852295, "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": 0.0005703191419743625, "book-upper shelf": 0.5934461076953844, "book-lower shelf": 0.37811591475538936 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.45569037831072023, "bimanual_gripper_vertical_difference": 0.03238563841070382, "task_success": 0.0 }, { "completion_time": 1.0348961353302002, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0006559820690100748, "book-upper shelf": 0.5933507343124539, "book-lower shelf": 0.3780220110918834 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.4580121932717506, "bimanual_gripper_vertical_difference": 0.03518559321903676, "task_success": 0.0 }, { "completion_time": 1.142993450164795, "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": 0.000525400887083527, "book-upper shelf": 0.5934762581244813, "book-lower shelf": 0.37813398579785107 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.4727666508790605, "bimanual_gripper_vertical_difference": 0.038073766638202736, "task_success": 0.0 }, { "completion_time": 1.1602482795715332, "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": 0.0005782161982256229, "book-upper shelf": 0.5934249924138142, "book-lower shelf": 0.3780879167325774 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.49266961302445283, "bimanual_gripper_vertical_difference": 0.041242189558221926, "task_success": 0.0 }, { "completion_time": 1.1775977611541748, "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": 0.000446553262433258, "book-upper shelf": 0.5935309364866276, "book-lower shelf": 0.37816846287330436 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.5038977897736651, "bimanual_gripper_vertical_difference": 0.04453077053948285, "task_success": 0.0 }, { "completion_time": 1.194345474243164, "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": 0.0005486035977938508, "book-upper shelf": 0.5934312697009612, "book-lower shelf": 0.3780784843014624 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.5069389303898973, "bimanual_gripper_vertical_difference": 0.04764042571092783, "task_success": 0.0 }, { "completion_time": 1.2111785411834717, "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": 0.0005600846612044963, "book-upper shelf": 0.5934309956796427, "book-lower shelf": 0.37808553121719946 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.5191191476554775, "bimanual_gripper_vertical_difference": 0.05098295155656402, "task_success": 0.0 }, { "completion_time": 1.228670358657837, "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": 0.0005850912035080258, "book-upper shelf": 0.5934038091364835, "book-lower shelf": 0.37805914544139335 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.5332629354759679, "bimanual_gripper_vertical_difference": 0.054891068993860405, "task_success": 0.0 }, { "completion_time": 1.245713710784912, "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": 0.0005914589804361103, "book-upper shelf": 0.5933911701289295, "book-lower shelf": 0.37804345431829595 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.5489069583861322, "bimanual_gripper_vertical_difference": 0.05912442480126049, "task_success": 0.0 }, { "completion_time": 1.262662410736084, "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": 0.0005217845313715275, "book-upper shelf": 0.5934509472817693, "book-lower shelf": 0.37809190445339674 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.5706936602921212, "bimanual_gripper_vertical_difference": 0.06337043309691316, "task_success": 0.0 }, { "completion_time": 1.2794976234436035, "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": 0.0005223561757257134, "book-upper shelf": 0.5934483253895174, "book-lower shelf": 0.37808816140875307 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.5870243548531265, "bimanual_gripper_vertical_difference": 0.06748747402839003, "task_success": 0.0 }, { "completion_time": 1.2964375019073486, "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": 0.0005527973819423604, "book-upper shelf": 0.5934272062677742, "book-lower shelf": 0.3780748375660179 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6031918962817133, "bimanual_gripper_vertical_difference": 0.07133397484223665, "task_success": 0.0 }, { "completion_time": 1.3992886543273926, "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": 0.0006686429412166017, "book-upper shelf": 0.5933172396960747, "book-lower shelf": 0.37797768284370536 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6245553212703084, "bimanual_gripper_vertical_difference": 0.07493422945894636, "task_success": 0.0 }, { "completion_time": 1.416426181793213, "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": 0.0006484577446294049, "book-upper shelf": 0.5933292625542079, "book-lower shelf": 0.37798340626330595 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.646397701484706, "bimanual_gripper_vertical_difference": 0.07820080284378118, "task_success": 0.0 }, { "completion_time": 1.4333150386810303, "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": 0.0006307874637765387, "book-upper shelf": 0.5933453747910332, "book-lower shelf": 0.37799718737500815 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6692069074873525, "bimanual_gripper_vertical_difference": 0.08103460231163993, "task_success": 0.0 }, { "completion_time": 1.4502718448638916, "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": 0.0006389402277242606, "book-upper shelf": 0.5933328221688036, "book-lower shelf": 0.3779827940117104 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6889312039073813, "bimanual_gripper_vertical_difference": 0.0834696016705105, "task_success": 0.0 }, { "completion_time": 1.4674711227416992, "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": 0.0005459989195490955, "book-upper shelf": 0.5934079258460673, "book-lower shelf": 0.37804014630185667 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7074229030522735, "bimanual_gripper_vertical_difference": 0.08559382034949559, "task_success": 0.0 }, { "completion_time": 1.4850175380706787, "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": 0.0005566109792721763, "book-upper shelf": 0.593408319620316, "book-lower shelf": 0.3780476761764357 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7138340410955746, "bimanual_gripper_vertical_difference": 0.08758788023086081, "task_success": 0.0 }, { "completion_time": 1.505678415298462, "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": 0.0004434122288773379, "book-upper shelf": 0.5935025877706727, "book-lower shelf": 0.378121922974295 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7106806382511696, "bimanual_gripper_vertical_difference": 0.08958933803463061, "task_success": 0.0 }, { "completion_time": 1.522728443145752, "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": 0.0006518046606809325, "book-upper shelf": 0.5933158481299136, "book-lower shelf": 0.37796452933868735 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7091845551894965, "bimanual_gripper_vertical_difference": 0.09166478524534671, "task_success": 0.0 }, { "completion_time": 1.5398423671722412, "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": 0.0006372319943227511, "book-upper shelf": 0.5933233575203902, "book-lower shelf": 0.37796682402802795 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7075365971399872, "bimanual_gripper_vertical_difference": 0.09393478696744026, "task_success": 0.0 }, { "completion_time": 1.5571203231811523, "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": 0.0005674550814800394, "book-upper shelf": 0.5933821677598398, "book-lower shelf": 0.37801368872209185 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7099060847754642, "bimanual_gripper_vertical_difference": 0.09647968403801149, "task_success": 0.0 }, { "completion_time": 1.6614739894866943, "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": 0.0005368550911128978, "book-upper shelf": 0.5934020439764216, "book-lower shelf": 0.37802495774232897 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7110610813683453, "bimanual_gripper_vertical_difference": 0.09925711607267904, "task_success": 0.0 }, { "completion_time": 1.6789968013763428, "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": 0.0005439280541243985, "book-upper shelf": 0.5934013595535159, "book-lower shelf": 0.378028490303684 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7080902901694025, "bimanual_gripper_vertical_difference": 0.10207355114561069, "task_success": 0.0 }, { "completion_time": 1.6963531970977783, "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": 0.000567134610489517, "book-upper shelf": 0.593378222599065, "book-lower shelf": 0.37800728707896963 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7075230762154987, "bimanual_gripper_vertical_difference": 0.10481331831874523, "task_success": 0.0 }, { "completion_time": 1.7137775421142578, "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": 0.0006366047688258769, "book-upper shelf": 0.5933125097475087, "book-lower shelf": 0.37794938660124555 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7086557119511941, "bimanual_gripper_vertical_difference": 0.10746772409304317, "task_success": 0.0 }, { "completion_time": 1.731494665145874, "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": 0.0005086963895744034, "book-upper shelf": 0.5934205776760203, "book-lower shelf": 0.37803571013529386 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7134458361497024, "bimanual_gripper_vertical_difference": 0.1100503535565359, "task_success": 0.0 }, { "completion_time": 1.7511062622070312, "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": 0.0004266064928285518, "book-upper shelf": 0.593495503952921, "book-lower shelf": 0.3780998600514518 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7190851315610323, "bimanual_gripper_vertical_difference": 0.11255301924367574, "task_success": 0.0 }, { "completion_time": 1.7690925598144531, "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": 0.0005908412156753196, "book-upper shelf": 0.5933517490660459, "book-lower shelf": 0.37798117210703713 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.72050285369399, "bimanual_gripper_vertical_difference": 0.11497039794317303, "task_success": 0.0 }, { "completion_time": 1.7861242294311523, "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": 0.0005298906274143755, "book-upper shelf": 0.5934024786389316, "book-lower shelf": 0.37802110375663145 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7228637110754202, "bimanual_gripper_vertical_difference": 0.1173012544005988, "task_success": 0.0 }, { "completion_time": 1.803206205368042, "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": 0.0006632939619546363, "book-upper shelf": 0.5932868857313635, "book-lower shelf": 0.37792654905856493 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7223557915776377, "bimanual_gripper_vertical_difference": 0.1195530857715811, "task_success": 0.0 }, { "completion_time": 1.8208143711090088, "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": 0.0007288842139727691, "book-upper shelf": 0.5932156634068598, "book-lower shelf": 0.3778574743646974 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7208909440318056, "bimanual_gripper_vertical_difference": 0.12174216429689666, "task_success": 0.0 }, { "completion_time": 1.9247233867645264, "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": 0.0004910684735734971, "book-upper shelf": 0.593426938184755, "book-lower shelf": 0.37803421303404905 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.716841263814438, "bimanual_gripper_vertical_difference": 0.12386082212200737, "task_success": 0.0 }, { "completion_time": 1.9425218105316162, "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": 0.0007562975795966098, "book-upper shelf": 0.5931850434146405, "book-lower shelf": 0.3778272661742748 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7166098907379307, "bimanual_gripper_vertical_difference": 0.12589452828942524, "task_success": 0.0 }, { "completion_time": 1.959810733795166, "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": -0.0009837631502377375, "book-upper shelf": 0.5945125866431236, "book-lower shelf": 0.3787786558223407 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7198020872193811, "bimanual_gripper_vertical_difference": 0.12785250874632254, "task_success": 0.0 }, { "completion_time": 1.9769227504730225, "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": -0.0006990089555303225, "book-upper shelf": 0.5939946467495548, "book-lower shelf": 0.37815066045092127 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.72180219916369, "bimanual_gripper_vertical_difference": 0.1297191636893068, "task_success": 0.0 }, { "completion_time": 1.9941215515136719, "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": -0.0007967449949859429, "book-upper shelf": 0.5939851396773269, "book-lower shelf": 0.3780720800023655 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7168072630407619, "bimanual_gripper_vertical_difference": 0.13150479708852253, "task_success": 0.0 }, { "completion_time": 2.011460304260254, "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": -0.0008553229390404482, "book-upper shelf": 0.5938636968279334, "book-lower shelf": 0.37784308280221085 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7116295590360164, "bimanual_gripper_vertical_difference": 0.133246862851038, "task_success": 0.0 }, { "completion_time": 2.0284626483917236, "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": -0.0014621857187624432, "book-upper shelf": 0.5941952218313126, "book-lower shelf": 0.37796880411393996 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7073307708010816, "bimanual_gripper_vertical_difference": 0.13493307971920973, "task_success": 0.0 }, { "completion_time": 2.045562982559204, "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": -0.0015660494898969146, "book-upper shelf": 0.5940354368538789, "book-lower shelf": 0.3776498480873013 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7056203321827723, "bimanual_gripper_vertical_difference": 0.1365915340111131, "task_success": 0.0 }, { "completion_time": 2.06184720993042, "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": 0.0003151639236230741, "book-upper shelf": 0.5919165334948969, "book-lower shelf": 0.3755434644487019 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7056174015041797, "bimanual_gripper_vertical_difference": 0.13818441900359316, "task_success": 0.0 }, { "completion_time": 2.0822267532348633, "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": 0.0005257569268035667, "book-upper shelf": 0.5916571767566979, "book-lower shelf": 0.3752727440108057 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7117290712337995, "bimanual_gripper_vertical_difference": 0.13972969995337198, "task_success": 0.0 }, { "completion_time": 2.1850385665893555, "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": 0.0007494569641398607, "book-upper shelf": 0.5914290941310614, "book-lower shelf": 0.37505993128766946 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7180661874593695, "bimanual_gripper_vertical_difference": 0.141215133695921, "task_success": 0.0 }, { "completion_time": 2.20177960395813, "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": -0.0006341863423845462, "book-upper shelf": 0.5927232056327488, "book-lower shelf": 0.3761927724234887 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7214309583917583, "bimanual_gripper_vertical_difference": 0.14266676147459936, "task_success": 0.0 }, { "completion_time": 2.2184863090515137, "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": -0.0004964504526878688, "book-upper shelf": 0.5925574697162915, "book-lower shelf": 0.3760217899050616 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7248080762507719, "bimanual_gripper_vertical_difference": 0.14407517245032894, "task_success": 0.0 }, { "completion_time": 2.235304355621338, "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": 0.00047506812265274423, "book-upper shelf": 0.5914614308000373, "book-lower shelf": 0.3749307669586139 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7283196145267863, "bimanual_gripper_vertical_difference": 0.14542811327344105, "task_success": 0.0 }, { "completion_time": 2.2520110607147217, "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": 0.0007612620936816583, "book-upper shelf": 0.5913974423383234, "book-lower shelf": 0.3750177687965776 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7279857043638652, "bimanual_gripper_vertical_difference": 0.14673714647043415, "task_success": 0.0 }, { "completion_time": 2.268286943435669, "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": 0.0007516931441939878, "book-upper shelf": 0.5915885199674454, "book-lower shelf": 0.37531274536972653 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7311427940600183, "bimanual_gripper_vertical_difference": 0.14799049549076077, "task_success": 0.0 }, { "completion_time": 2.284421682357788, "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": 0.0005393340398417434, "book-upper shelf": 0.5918918935968737, "book-lower shelf": 0.375651590366241 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.739123775331008, "bimanual_gripper_vertical_difference": 0.1491798313675623, "task_success": 0.0 }, { "completion_time": 2.30043625831604, "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": 0.0006242337408760568, "book-upper shelf": 0.5922635671928577, "book-lower shelf": 0.3762924999527351 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7504874951706518, "bimanual_gripper_vertical_difference": 0.15029107812803366, "task_success": 0.0 }, { "completion_time": 2.317619562149048, "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": 0.001633931811725109, "book-upper shelf": 0.5909742317364411, "book-lower shelf": 0.3749235667265816 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7580698830822533, "bimanual_gripper_vertical_difference": 0.15132003734626895, "task_success": 0.0 }, { "completion_time": 2.334662437438965, "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": 0.0001383841774273975, "book-upper shelf": 0.5923134217529561, "book-lower shelf": 0.3760529822623422 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7629786636037069, "bimanual_gripper_vertical_difference": 0.15224731788853327, "task_success": 0.0 }, { "completion_time": 2.4370453357696533, "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": 0.0005566768093049346, "book-upper shelf": 0.5919358478350818, "book-lower shelf": 0.3757322078795384 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7666745112560108, "bimanual_gripper_vertical_difference": 0.15307992234796788, "task_success": 0.0 }, { "completion_time": 2.4543204307556152, "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": 0.0005525913306159147, "book-upper shelf": 0.5919425916057616, "book-lower shelf": 0.37574015482613154 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7718755906195343, "bimanual_gripper_vertical_difference": 0.15382761656297034, "task_success": 0.0 }, { "completion_time": 2.4717369079589844, "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": 0.0005199505686259709, "book-upper shelf": 0.5919759831279247, "book-lower shelf": 0.37577137044869213 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7775793139146617, "bimanual_gripper_vertical_difference": 0.15448960877707474, "task_success": 0.0 }, { "completion_time": 2.4891066551208496, "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": 0.0005474579481873354, "book-upper shelf": 0.5919537457450293, "book-lower shelf": 0.3757543630607897 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.783908027324481, "bimanual_gripper_vertical_difference": 0.15504376078137058, "task_success": 0.0 }, { "completion_time": 2.506491184234619, "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": 0.0005221927329327469, "book-upper shelf": 0.5919683468860353, "book-lower shelf": 0.3757608097146522 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7901428869785774, "bimanual_gripper_vertical_difference": 0.15545815027762358, "task_success": 0.0 }, { "completion_time": 2.5282435417175293, "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": 0.0005595104050345467, "book-upper shelf": 0.5919369951041717, "book-lower shelf": 0.3757358722067479 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7962693841282956, "bimanual_gripper_vertical_difference": 0.15581750435219507, "task_success": 0.0 }, { "completion_time": 2.545748233795166, "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": 0.0005870964497979303, "book-upper shelf": 0.5919142439405499, "book-lower shelf": 0.3757181076517798 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8104669106525317, "bimanual_gripper_vertical_difference": 0.15619298683059316, "task_success": 0.0 }, { "completion_time": 2.563232660293579, "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": 0.0005992979491307171, "book-upper shelf": 0.5919061671202623, "book-lower shelf": 0.3757133795076427 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8121020337274217, "bimanual_gripper_vertical_difference": 0.15655587463456525, "task_success": 0.0 }, { "completion_time": 2.5810611248016357, "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": 0.0005450162346074539, "book-upper shelf": 0.5919478571613788, "book-lower shelf": 0.3757434862159919 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8147289663776293, "bimanual_gripper_vertical_difference": 0.15689905603502208, "task_success": 0.0 }, { "completion_time": 2.60052227973938, "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": 0.0005130167021464294, "book-upper shelf": 0.5919806515786423, "book-lower shelf": 0.3757741815366635 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8215588583522778, "bimanual_gripper_vertical_difference": 0.15719895020532124, "task_success": 0.0 }, { "completion_time": 2.7047524452209473, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.000540534445123031, "book-upper shelf": 0.5919584035238684, "book-lower shelf": 0.3757571639784127 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8348796553768921, "bimanual_gripper_vertical_difference": 0.15737702937847223, "task_success": 0.0 }, { "completion_time": 2.7220871448516846, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005754226424424802, "book-upper shelf": 0.5919288099407477, "book-lower shelf": 0.37573340483536 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8533616948273033, "bimanual_gripper_vertical_difference": 0.15739958502818674, "task_success": 0.0 }, { "completion_time": 2.7394614219665527, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005526287496551152, "book-upper shelf": 0.5919416159506801, "book-lower shelf": 0.37573864229425225 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8719087310673086, "bimanual_gripper_vertical_difference": 0.15725525570688964, "task_success": 0.0 }, { "completion_time": 2.7568418979644775, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005801667250576736, "book-upper shelf": 0.5919189048381498, "book-lower shelf": 0.3757209091860284 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8899828169038694, "bimanual_gripper_vertical_difference": 0.15704666735153264, "task_success": 0.0 }, { "completion_time": 2.773982286453247, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005923762567592306, "book-upper shelf": 0.5919108197056764, "book-lower shelf": 0.3757161731457662 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.90944247073084, "bimanual_gripper_vertical_difference": 0.15685876147450104, "task_success": 0.0 }, { "completion_time": 2.7912230491638184, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0004867400675357958, "book-upper shelf": 0.5920001171669419, "book-lower shelf": 0.37578762947050875 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9292019405563245, "bimanual_gripper_vertical_difference": 0.15674132063289786, "task_success": 0.0 }, { "completion_time": 2.808326482772827, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005060761573040251, "book-upper shelf": 0.5919853270419426, "book-lower shelf": 0.3757769993330239 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9411403648945204, "bimanual_gripper_vertical_difference": 0.15676712660180375, "task_success": 0.0 }, { "completion_time": 2.8254523277282715, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.000533614146791761, "book-upper shelf": 0.5919630591171905, "book-lower shelf": 0.37575996358985575 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.941733011542961, "bimanual_gripper_vertical_difference": 0.15687625612928724, "task_success": 0.0 }, { "completion_time": 2.846212387084961, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005685025409325473, "book-upper shelf": 0.5919334619753396, "book-lower shelf": 0.3757361987797194 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9414891299815868, "bimanual_gripper_vertical_difference": 0.1570035973464616, "task_success": 0.0 }, { "completion_time": 2.8631653785705566, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005286675851768896, "book-upper shelf": 0.5919620697231138, "book-lower shelf": 0.3757551635497221 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9455898516002295, "bimanual_gripper_vertical_difference": 0.15717417103402617, "task_success": 0.0 }, { "completion_time": 2.966564416885376, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005732269843009563, "book-upper shelf": 0.5919235750904746, "book-lower shelf": 0.37572371893100137 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9448327626021715, "bimanual_gripper_vertical_difference": 0.15737692129323266, "task_success": 0.0 }, { "completion_time": 2.983865737915039, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.000585456852583599, "book-upper shelf": 0.5919154705699431, "book-lower shelf": 0.37571896560875445 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9450340729335159, "bimanual_gripper_vertical_difference": 0.15755904003606985, "task_success": 0.0 }, { "completion_time": 3.0010950565338135, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005820529418008036, "book-upper shelf": 0.5919215833379418, "book-lower shelf": 0.3757263650364586 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.952059363824565, "bimanual_gripper_vertical_difference": 0.15770767261836055, "task_success": 0.0 }, { "completion_time": 3.0183300971984863, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0004980714623223914, "book-upper shelf": 0.5919909944444496, "book-lower shelf": 0.3757806825610777 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9674525496107144, "bimanual_gripper_vertical_difference": 0.15781155091560722, "task_success": 0.0 }, { "completion_time": 3.035301446914673, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005266839428712533, "book-upper shelf": 0.5919677255339981, "book-lower shelf": 0.3757627737983762 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9865866999422199, "bimanual_gripper_vertical_difference": 0.15786224901514795, "task_success": 0.0 }, { "completion_time": 3.0522069931030273, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005615840567667618, "book-upper shelf": 0.591938114135818, "book-lower shelf": 0.3757389940190814 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.003602740075694, "bimanual_gripper_vertical_difference": 0.15787438723700287, "task_success": 0.0 }, { "completion_time": 3.069202423095703, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005889879961332722, "book-upper shelf": 0.5919159777229612, "book-lower shelf": 0.3757220786877469 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0178322974907443, "bimanual_gripper_vertical_difference": 0.15785556128543476, "task_success": 0.0 }, { "completion_time": 3.086268901824951, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005662053888638718, "book-upper shelf": 0.5919283268206393, "book-lower shelf": 0.3757266034332279 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0306546246868153, "bimanual_gripper_vertical_difference": 0.15781688736921531, "task_success": 0.0 }, { "completion_time": 3.1033272743225098, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005785321606374128, "book-upper shelf": 0.5919201292045527, "book-lower shelf": 0.37572176688484343 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0426280154372791, "bimanual_gripper_vertical_difference": 0.1577527911818339, "task_success": 0.0 }, { "completion_time": 3.1202852725982666, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005751357618568598, "book-upper shelf": 0.591926234528671, "book-lower shelf": 0.37572915952884184 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.052402337731415, "bimanual_gripper_vertical_difference": 0.15765813060458725, "task_success": 0.0 }, { "completion_time": 3.2245712280273438, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0004258057101854673, "book-upper shelf": 0.592056208862689, "book-lower shelf": 0.37583606940532466 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0548533025526803, "bimanual_gripper_vertical_difference": 0.1574848162491365, "task_success": 0.0 }, { "completion_time": 3.241722583770752, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.000519751693470738, "book-upper shelf": 0.5919723955378814, "book-lower shelf": 0.3757655883544996 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0561786578954488, "bimanual_gripper_vertical_difference": 0.15720550583798668, "task_success": 0.0 }, { "completion_time": 3.2587733268737793, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005546668970096702, "book-upper shelf": 0.5919427666958832, "book-lower shelf": 0.37574179079264636 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0584151935636916, "bimanual_gripper_vertical_difference": 0.1568243295250995, "task_success": 0.0 }, { "completion_time": 3.2757043838500977, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005820727532219738, "book-upper shelf": 0.5919206273356417, "book-lower shelf": 0.37572487192594534 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0661851022028093, "bimanual_gripper_vertical_difference": 0.15633739822681975, "task_success": 0.0 }, { "completion_time": 3.2955613136291504, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.000532688725309427, "book-upper shelf": 0.5919576541394316, "book-lower shelf": 0.3757508422453878 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0709670154473974, "bimanual_gripper_vertical_difference": 0.15574928501513358, "task_success": 0.0 }, { "completion_time": 3.3123066425323486, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005715950847378082, "book-upper shelf": 0.5919247997569014, "book-lower shelf": 0.37572457885765637 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0770319198535918, "bimanual_gripper_vertical_difference": 0.1550740950542802, "task_success": 0.0 }, { "completion_time": 3.3293964862823486, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005682199737134797, "book-upper shelf": 0.5919308848295277, "book-lower shelf": 0.37573195356818273 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0864290657436315, "bimanual_gripper_vertical_difference": 0.15430950398087379, "task_success": 0.0 }, { "completion_time": 3.3463714122772217, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005355723676753188, "book-upper shelf": 0.5919642797539131, "book-lower shelf": 0.3757631697068093 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.09859210184789, "bimanual_gripper_vertical_difference": 0.15344845541119517, "task_success": 0.0 }, { "completion_time": 3.3630924224853516, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005083450072925766, "book-upper shelf": 0.591981212956785, "book-lower shelf": 0.37577200478978784 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1114819343606934, "bimanual_gripper_vertical_difference": 0.1524941771097283, "task_success": 0.0 }, { "completion_time": 3.3816139698028564, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005477357308175668, "book-upper shelf": 0.5919474339029822, "book-lower shelf": 0.3757446014995162 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.123949228935833, "bimanual_gripper_vertical_difference": 0.15148139220085977, "task_success": 0.0 }, { "completion_time": 3.485491991043091, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005751590663125583, "book-upper shelf": 0.5919252771328116, "book-lower shelf": 0.3757276665112561 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1387850912450685, "bimanual_gripper_vertical_difference": 0.1504729126973148, "task_success": 0.0 }, { "completion_time": 3.502608060836792, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0006027221349383938, "book-upper shelf": 0.5919025484818716, "book-lower shelf": 0.37570992268728487 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1541518351725726, "bimanual_gripper_vertical_difference": 0.1495120992511495, "task_success": 0.0 }, { "completion_time": 3.519967555999756, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005643744578885945, "book-upper shelf": 0.5919297386691084, "book-lower shelf": 0.37572762782860514 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1670157718152263, "bimanual_gripper_vertical_difference": 0.1486004734753891, "task_success": 0.0 }, { "completion_time": 3.536839485168457, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005612983736451582, "book-upper shelf": 0.5919355433904168, "book-lower shelf": 0.3757347568485748 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1773837734407737, "bimanual_gripper_vertical_difference": 0.14776926502461657, "task_success": 0.0 }, { "completion_time": 3.5556485652923584, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005286594453539628, "book-upper shelf": 0.5919689321619325, "book-lower shelf": 0.37576596916150967 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1906739393179213, "bimanual_gripper_vertical_difference": 0.14704111859406663, "task_success": 0.0 }, { "completion_time": 3.572739839553833, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.00042186078217887335, "book-upper shelf": 0.5920595879587816, "book-lower shelf": 0.3758388080378527 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.203746702945475, "bimanual_gripper_vertical_difference": 0.14642574426372126, "task_success": 0.0 }, { "completion_time": 3.589831590652466, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005408148989259898, "book-upper shelf": 0.5919520932208816, "book-lower shelf": 0.37574740658670014 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2186407403538082, "bimanual_gripper_vertical_difference": 0.1459267687585596, "task_success": 0.0 }, { "completion_time": 3.606760025024414, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005682465536143155, "book-upper shelf": 0.5919299274705777, "book-lower shelf": 0.37573046275447364 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2340688454193869, "bimanual_gripper_vertical_difference": 0.14551707887340823, "task_success": 0.0 }, { "completion_time": 3.6236507892608643, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005958103393839398, "book-upper shelf": 0.5919071953946965, "book-lower shelf": 0.375712713855485 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2483227871595428, "bimanual_gripper_vertical_difference": 0.14515610634061737, "task_success": 0.0 }, { "completion_time": 3.6406188011169434, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005194857195286451, "book-upper shelf": 0.5919695921521129, "book-lower shelf": 0.37576099766529353 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2585757248934808, "bimanual_gripper_vertical_difference": 0.1447766695280391, "task_success": 0.0 }, { "completion_time": 3.744936943054199, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005543658181506039, "book-upper shelf": 0.5919402125435501, "book-lower shelf": 0.375737569673712 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.265971324787521, "bimanual_gripper_vertical_difference": 0.1443703824970132, "task_success": 0.0 }, { "completion_time": 3.761690616607666, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005217479070126485, "book-upper shelf": 0.5919735836879492, "book-lower shelf": 0.3757687681703406 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.274134689857083, "bimanual_gripper_vertical_difference": 0.14394390451967431, "task_success": 0.0 }, { "completion_time": 3.7789769172668457, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005492529708618354, "book-upper shelf": 0.5919513552306459, "book-lower shelf": 0.37575177335038773 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.283891814358837, "bimanual_gripper_vertical_difference": 0.14351987550794756, "task_success": 0.0 }, { "completion_time": 3.795391798019409, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005240020227190723, "book-upper shelf": 0.5919659387192031, "book-lower shelf": 0.3757582014951718 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2935920044163849, "bimanual_gripper_vertical_difference": 0.14313814009069026, "task_success": 0.0 }, { "completion_time": 3.812422752380371, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005613160437941689, "book-upper shelf": 0.5919345961584562, "book-lower shelf": 0.37573327614957014 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3020685787336326, "bimanual_gripper_vertical_difference": 0.14279050395048298, "task_success": 0.0 }, { "completion_time": 3.8295223712921143, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005889000336429806, "book-upper shelf": 0.5919118425558387, "book-lower shelf": 0.3757155064279781 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.310698281756664, "bimanual_gripper_vertical_difference": 0.14246729013448756, "task_success": 0.0 }, { "completion_time": 3.846644163131714, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0006010995089147375, "book-upper shelf": 0.5919037712776133, "book-lower shelf": 0.37571078570734273 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3207871445640944, "bimanual_gripper_vertical_difference": 0.1421630916753057, "task_success": 0.0 }, { "completion_time": 3.8640594482421875, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005468326461690598, "book-upper shelf": 0.5919454458862116, "book-lower shelf": 0.37574087777762 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3325248800745138, "bimanual_gripper_vertical_difference": 0.14187697470691665, "task_success": 0.0 }, { "completion_time": 3.8809938430786133, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005148299723795047, "book-upper shelf": 0.5919782440160165, "book-lower shelf": 0.3757715768911826 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3460250910962606, "bimanual_gripper_vertical_difference": 0.14160102460804333, "task_success": 0.0 }, { "completion_time": 3.897996187210083, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.000542344958631813, "book-upper shelf": 0.5919560052994051, "book-lower shelf": 0.37575457226223774 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3603659386410865, "bimanual_gripper_vertical_difference": 0.1413073941832661, "task_success": 0.0 }, { "completion_time": 4.000916004180908, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.00042750677543812454, "book-upper shelf": 0.5920535086496155, "book-lower shelf": 0.3758329301792034 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.373792877262302, "bimanual_gripper_vertical_difference": 0.14098953666129016, "task_success": 0.0 }, { "completion_time": 4.019420623779297, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005544148218954437, "book-upper shelf": 0.5919392394472571, "book-lower shelf": 0.3757360687603676 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3874375657124596, "bimanual_gripper_vertical_difference": 0.14065267926336308, "task_success": 0.0 }, { "completion_time": 4.036481857299805, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005819907371236166, "book-upper shelf": 0.5919164904135449, "book-lower shelf": 0.3757183007959676 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4019547075235683, "bimanual_gripper_vertical_difference": 0.14029861604715993, "task_success": 0.0 }, { "completion_time": 4.053431749343872, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005941923473458122, "book-upper shelf": 0.5919084166656297, "book-lower shelf": 0.37571357751893064 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4177988639686976, "bimanual_gripper_vertical_difference": 0.13992070800843326, "task_success": 0.0 }, { "completion_time": 4.070560455322266, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0004885689813850513, "book-upper shelf": 0.5919976999790821, "book-lower shelf": 0.37578501988043345 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4335862149690541, "bimanual_gripper_vertical_difference": 0.13949808004456846, "task_success": 0.0 }, { "completion_time": 4.087569236755371, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005079030146128982, "book-upper shelf": 0.5919829131507831, "book-lower shelf": 0.37577439361023923 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.448105980112625, "bimanual_gripper_vertical_difference": 0.13899726287543163, "task_success": 0.0 }, { "completion_time": 4.104506015777588, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.000535438218718931, "book-upper shelf": 0.5919606545919299, "book-lower shelf": 0.3757573708216407 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4583649991858194, "bimanual_gripper_vertical_difference": 0.1384150890013601, "task_success": 0.0 }, { "completion_time": 4.121485471725464, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005703242934618213, "book-upper shelf": 0.5919310547432746, "book-lower shelf": 0.3757336002526772 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.465846448153452, "bimanual_gripper_vertical_difference": 0.13778785716103997, "task_success": 0.0 }, { "completion_time": 4.138262033462524, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005305031648578096, "book-upper shelf": 0.5919596556744753, "book-lower shelf": 0.375752563292469 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4707836014358506, "bimanual_gripper_vertical_difference": 0.1371608344535523, "task_success": 0.0 }, { "completion_time": 4.155311107635498, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005750594717516266, "book-upper shelf": 0.5919211603260373, "book-lower shelf": 0.37572111554931104 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4717258686166468, "bimanual_gripper_vertical_difference": 0.1365700483758801, "task_success": 0.0 }, { "completion_time": 4.259931325912476, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005872866229723606, "book-upper shelf": 0.591913062352283, "book-lower shelf": 0.37571637077955333 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4727845922288982, "bimanual_gripper_vertical_difference": 0.1360493966846481, "task_success": 0.0 }, { "completion_time": 4.276806116104126, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005838802897304429, "book-upper shelf": 0.5919191751972229, "book-lower shelf": 0.37572376875287083 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.475433944378835, "bimanual_gripper_vertical_difference": 0.13558876460718272, "task_success": 0.0 }, { "completion_time": 4.293848752975464, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0004999126691012101, "book-upper shelf": 0.5919885747851186, "book-lower shelf": 0.37577807714279077 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4807807749909487, "bimanual_gripper_vertical_difference": 0.13515993535229756, "task_success": 0.0 }, { "completion_time": 4.311749458312988, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005285217932279318, "book-upper shelf": 0.5919653157362744, "book-lower shelf": 0.37576018174216885 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4872922694441837, "bimanual_gripper_vertical_difference": 0.13474543043646892, "task_success": 0.0 }, { "completion_time": 4.328819274902344, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005634195762904692, "book-upper shelf": 0.5919357016469465, "book-lower shelf": 0.3757363962216766 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4929592306854305, "bimanual_gripper_vertical_difference": 0.1343371018608913, "task_success": 0.0 }, { "completion_time": 4.345786809921265, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0004300882551391272, "book-upper shelf": 0.5920508553074952, "book-lower shelf": 0.37583044158606704 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4978830581996136, "bimanual_gripper_vertical_difference": 0.13392087073760278, "task_success": 0.0 }, { "completion_time": 4.362866401672363, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005681854867115588, "book-upper shelf": 0.5919257789083615, "book-lower shelf": 0.37572388701045045 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4974298792148983, "bimanual_gripper_vertical_difference": 0.1335009065768738, "task_success": 0.0 }, { "completion_time": 4.379640579223633, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005803817721390381, "book-upper shelf": 0.5919177088629559, "book-lower shelf": 0.3757191659475028 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4930029590787084, "bimanual_gripper_vertical_difference": 0.13309449038199833, "task_success": 0.0 }, { "completion_time": 4.3965513706207275, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005769767635095402, "book-upper shelf": 0.5919238200139008, "book-lower shelf": 0.37572656214069994 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4890854795741058, "bimanual_gripper_vertical_difference": 0.13272105757160127, "task_success": 0.0 }, { "completion_time": 4.415615081787109, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.00042765859552562624, "book-upper shelf": 0.592053783864672, "book-lower shelf": 0.37583346319220085 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4867078716957045, "bimanual_gripper_vertical_difference": 0.13239194002140847, "task_success": 0.0 }, { "completion_time": 4.517685890197754, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005216031489264639, "book-upper shelf": 0.5919699794102053, "book-lower shelf": 0.37576299523063916 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4863386230838753, "bimanual_gripper_vertical_difference": 0.13210845140414657, "task_success": 0.0 }, { "completion_time": 4.534839868545532, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.000556515984814987, "book-upper shelf": 0.5919403479122901, "book-lower shelf": 0.3757391919593945 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4868235915756185, "bimanual_gripper_vertical_difference": 0.13188154035484445, "task_success": 0.0 }, { "completion_time": 4.551699161529541, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.00058391908463018, "book-upper shelf": 0.5919182170750797, "book-lower shelf": 0.37572228473912694 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4874669363143307, "bimanual_gripper_vertical_difference": 0.13172009315115404, "task_success": 0.0 }, { "completion_time": 4.568554878234863, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005345491255612789, "book-upper shelf": 0.5919552271305124, "book-lower shelf": 0.3757482378336563 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4853435848293122, "bimanual_gripper_vertical_difference": 0.13160845027021098, "task_success": 0.0 }, { "completion_time": 4.585743427276611, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005734522260425479, "book-upper shelf": 0.5919223799657076, "book-lower shelf": 0.3757219837113825 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4806005560304585, "bimanual_gripper_vertical_difference": 0.13153093470706426, "task_success": 0.0 }, { "completion_time": 4.602790117263794, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.000570074660205977, "book-upper shelf": 0.5919284651439333, "book-lower shelf": 0.3757293569913179 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4745232681561744, "bimanual_gripper_vertical_difference": 0.13148091440151666, "task_success": 0.0 }, { "completion_time": 4.619781970977783, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005326984601589091, "book-upper shelf": 0.5919555045348789, "book-lower shelf": 0.375747462129725 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4674141834395569, "bimanual_gripper_vertical_difference": 0.13145762355381613, "task_success": 0.0 }, { "completion_time": 4.639571666717529, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005148662367129297, "book-upper shelf": 0.5919744766637177, "book-lower shelf": 0.37576566566232866 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4639866665711545, "bimanual_gripper_vertical_difference": 0.1314800578409259, "task_success": 0.0 }, { "completion_time": 4.656235456466675, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.000549611765671365, "book-upper shelf": 0.5919449963974943, "book-lower shelf": 0.37574199081962595 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4601682940005132, "bimanual_gripper_vertical_difference": 0.13156255476832157, "task_success": 0.0 }, { "completion_time": 4.6733644008636475, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005770192029100896, "book-upper shelf": 0.5919228603661671, "book-lower shelf": 0.37572507811106814 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4559508570930455, "bimanual_gripper_vertical_difference": 0.13170848042276312, "task_success": 0.0 }, { "completion_time": 4.777339935302734, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.000446120644966741, "book-upper shelf": 0.592035098881505, "book-lower shelf": 0.3758161239361971 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4502496571288939, "bimanual_gripper_vertical_difference": 0.13189606619744668, "task_success": 0.0 }, { "completion_time": 4.793880939483643, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005666169545399669, "book-upper shelf": 0.5919269643193686, "book-lower shelf": 0.37572472662662 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4435988164053444, "bimanual_gripper_vertical_difference": 0.13210901019801596, "task_success": 0.0 }, { "completion_time": 4.811047554016113, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005631731742324897, "book-upper shelf": 0.5919331101093079, "book-lower shelf": 0.3757321520237186 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4369264221179368, "bimanual_gripper_vertical_difference": 0.13233923878002615, "task_success": 0.0 }, { "completion_time": 4.8278117179870605, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005305250106040216, "book-upper shelf": 0.5919665083099527, "book-lower shelf": 0.3757633731395765 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4306921976844023, "bimanual_gripper_vertical_difference": 0.1325767210117265, "task_success": 0.0 }, { "completion_time": 4.845046758651733, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.000423736994735302, "book-upper shelf": 0.5920571604674895, "book-lower shelf": 0.37583621317681654 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4257595379235328, "bimanual_gripper_vertical_difference": 0.13280033372944208, "task_success": 0.0 }, { "completion_time": 4.862114906311035, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005426912020994878, "book-upper shelf": 0.5919496617948519, "book-lower shelf": 0.375744805649503 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4233547921075531, "bimanual_gripper_vertical_difference": 0.13299474038374018, "task_success": 0.0 }, { "completion_time": 4.878921031951904, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005701200259768946, "book-upper shelf": 0.5919275046384121, "book-lower shelf": 0.37572787352722153 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4223882314686742, "bimanual_gripper_vertical_difference": 0.1331526758051904, "task_success": 0.0 }, { "completion_time": 4.895904302597046, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005976814454484725, "book-upper shelf": 0.5919047707983188, "book-lower shelf": 0.3757101203223409 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4196685158566134, "bimanual_gripper_vertical_difference": 0.1332707449641933, "task_success": 0.0 }, { "completion_time": 4.913048505783081, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005213702351015703, "book-upper shelf": 0.5919671589608175, "book-lower shelf": 0.37575839930933197 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.417486596003828, "bimanual_gripper_vertical_difference": 0.13334323939074966, "task_success": 0.0 }, { "completion_time": 4.930258274078369, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.000556247684754263, "book-upper shelf": 0.5919377802552314, "book-lower shelf": 0.37573497103264386 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4139691645676573, "bimanual_gripper_vertical_difference": 0.13337789840096326, "task_success": 0.0 }, { "completion_time": 5.032117605209351, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005236271563111572, "book-upper shelf": 0.5919711546728055, "book-lower shelf": 0.3757661729704673 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4127302847170111, "bimanual_gripper_vertical_difference": 0.13339304902740218, "task_success": 0.0 }, { "completion_time": 5.04909610748291, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005511294515980758, "book-upper shelf": 0.5919489355843024, "book-lower shelf": 0.37574919112206717 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.412948641221116, "bimanual_gripper_vertical_difference": 0.1334147559673052, "task_success": 0.0 }, { "completion_time": 5.066363334655762, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005359114019771738, "book-upper shelf": 0.59195419949184, "book-lower shelf": 0.375747511577929 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4134774088139814, "bimanual_gripper_vertical_difference": 0.13347738637271683, "task_success": 0.0 }, { "completion_time": 5.0868494510650635, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005632196839890913, "book-upper shelf": 0.5919321516301808, "book-lower shelf": 0.37573067250087744 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4133121863661253, "bimanual_gripper_vertical_difference": 0.13359470032049292, "task_success": 0.0 }, { "completion_time": 5.103874921798706, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005907850074786669, "book-upper shelf": 0.5919094114088946, "book-lower shelf": 0.37571291165246273 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4150804804047028, "bimanual_gripper_vertical_difference": 0.13375063518789745, "task_success": 0.0 }, { "completion_time": 5.121050119400024, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.00046209441521027905, "book-upper shelf": 0.5920200693341969, "book-lower shelf": 0.37580291308131075 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4188891606002236, "bimanual_gripper_vertical_difference": 0.13391632323427835, "task_success": 0.0 }, { "completion_time": 5.138617992401123, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.000549467031303541, "book-upper shelf": 0.5919423168298186, "book-lower shelf": 0.37573767456096324 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4219676381873227, "bimanual_gripper_vertical_difference": 0.13407289490061977, "task_success": 0.0 }, { "completion_time": 5.155818223953247, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005167298597064107, "book-upper shelf": 0.5919758009269229, "book-lower shelf": 0.3757689730320792 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4247769771961731, "bimanual_gripper_vertical_difference": 0.13420805638159528, "task_success": 0.0 }, { "completion_time": 5.173044443130493, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.0005442349414924719, "book-upper shelf": 0.591953578213197, "book-lower shelf": 0.37575198715031854 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4274480793605309, "bimanual_gripper_vertical_difference": 0.1343177945668086, "task_success": 0.0 }, { "completion_time": 5.1902244091033936, "slip_count": 0, "slip_count_per_object": { "object_1": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false, "4": false }, "target_distance": { "book lift distance": 0.00042940650575484796, "book-upper shelf": 0.59205106636907, "book-lower shelf": 0.37583032742676714 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.426446889246831, "bimanual_gripper_vertical_difference": 0.13441100653943272, "task_success": 0.0 } ]