[ { "completion_time": 0.03769826889038086, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 0, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.3641633161961394, "block_0-gripper_Right": 0.43888813612278177, "block_1-gripper_Left": 0.4686311075683576, "block_1-gripper_Right": 0.31563110159312135, "cube 1 lift distance": 0.02185960000000009, "cube 2 lift distance": 0.02185960000000009 }, "success": 0.0, "bimanual_arm_velocity_difference": 3.3108405110560124e-07, "bimanual_gripper_vertical_difference": 7.019584913336985e-10, "task_success": 0.0 }, { "completion_time": 0.05869603157043457, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 0, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.3771713359998257, "block_0-gripper_Right": 0.4497563000108697, "block_1-gripper_Left": 0.47860771011743447, "block_1-gripper_Right": 0.3302844594033133, "cube 1 lift distance": 0.0012025261798247477, "cube 2 lift distance": 0.0011745173518181717 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.8177482832837377e-07, "bimanual_gripper_vertical_difference": 8.911561488744724e-10, "task_success": 0.0 }, { "completion_time": 0.07950234413146973, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 0, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.3775883500748242, "block_0-gripper_Right": 0.45011654728385153, "block_1-gripper_Left": 0.4786654253926835, "block_1-gripper_Right": 0.3303822863797269, "cube 1 lift distance": 0.0006937403668592079, "cube 2 lift distance": 0.0007106352243021474 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1519356996173707e-05, "bimanual_gripper_vertical_difference": 9.828236742966585e-10, "task_success": 0.0 }, { "completion_time": 0.10094380378723145, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 0, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.3773326900288658, "block_0-gripper_Right": 0.44990820571873313, "block_1-gripper_Left": 0.4785099474201983, "block_1-gripper_Right": 0.3301652725677307, "cube 1 lift distance": 0.00011712019369503057, "cube 2 lift distance": 0.00012959430505277147 }, "success": 0.0, "bimanual_arm_velocity_difference": 8.649264845663092e-06, "bimanual_gripper_vertical_difference": 1.2545363636817797e-09, "task_success": 0.0 }, { "completion_time": 0.12242484092712402, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 0, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.377068491975383, "block_0-gripper_Right": 0.4496901916490708, "block_1-gripper_Left": 0.47829094947510803, "block_1-gripper_Right": 0.3298526108029977, "cube 1 lift distance": 0.00011868362377209785, "cube 2 lift distance": 0.0001300743099901247 }, "success": 0.0, "bimanual_arm_velocity_difference": 7.326173068973249e-06, "bimanual_gripper_vertical_difference": 1.8922112765551447e-09, "task_success": 0.0 }, { "completion_time": 0.14353442192077637, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 0, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.37674389924596785, "block_0-gripper_Right": 0.4494213033524697, "block_1-gripper_Left": 0.4780214447648165, "block_1-gripper_Right": 0.3294661274135342, "cube 1 lift distance": 0.00011869852503720857, "cube 2 lift distance": 0.00013008415691107 }, "success": 0.0, "bimanual_arm_velocity_difference": 6.107082524149249e-06, "bimanual_gripper_vertical_difference": 2.625256530682426e-09, "task_success": 0.0 }, { "completion_time": 0.16397309303283691, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 0, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.37394364464211466, "block_0-gripper_Right": 0.44355066174934765, "block_1-gripper_Left": 0.47539681985940013, "block_1-gripper_Right": 0.3235582243294499, "cube 1 lift distance": 0.00011870285559301141, "cube 2 lift distance": 0.00013009079551740133 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.02108417243990391, "bimanual_gripper_vertical_difference": 0.00019749419695732788, "task_success": 0.0 }, { "completion_time": 0.18429255485534668, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 0, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.3683489765158497, "block_0-gripper_Right": 0.4272801996538058, "block_1-gripper_Left": 0.47019129877558236, "block_1-gripper_Right": 0.3075507690999154, "cube 1 lift distance": 0.00011870711487393937, "cube 2 lift distance": 0.00013009741360525684 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.07786297066322201, "bimanual_gripper_vertical_difference": 0.0011476943745998835, "task_success": 0.0 }, { "completion_time": 0.20455074310302734, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 0, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.3619027372755348, "block_0-gripper_Right": 0.4042396561670369, "block_1-gripper_Left": 0.4645571752393029, "block_1-gripper_Right": 0.2856590716581516, "cube 1 lift distance": 0.00011871137455876646, "cube 2 lift distance": 0.00013010403293745032 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.18107867138973732, "bimanual_gripper_vertical_difference": 0.0028365463545800334, "task_success": 0.0 }, { "completion_time": 0.22504496574401855, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 0, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.3567248234977448, "block_0-gripper_Right": 0.3784815914428193, "block_1-gripper_Left": 0.46063988950440377, "block_1-gripper_Right": 0.26276535550218505, "cube 1 lift distance": 0.000118715635136879, "cube 2 lift distance": 0.00013011065366286267 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.29019652379569827, "bimanual_gripper_vertical_difference": 0.004883216926095768, "task_success": 0.0 }, { "completion_time": 0.2455904483795166, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 0, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.3535785171791707, "block_0-gripper_Right": 0.35212884176642006, "block_1-gripper_Left": 0.45897643301003044, "block_1-gripper_Right": 0.24142459003819303, "cube 1 lift distance": 0.00011871989661205173, "cube 2 lift distance": 0.0001301172757829372 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.3979845426608707, "bimanual_gripper_vertical_difference": 0.00696679324447583, "task_success": 0.0 }, { "completion_time": 0.266190767288208, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 0, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.3520935700937356, "block_0-gripper_Right": 0.3275118432845567, "block_1-gripper_Left": 0.45889423602961626, "block_1-gripper_Right": 0.2238816637919098, "cube 1 lift distance": 0.00011872415898417366, "cube 2 lift distance": 0.00013012389929800694 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.5081969396082179, "bimanual_gripper_vertical_difference": 0.008907643796506918, "task_success": 0.0 }, { "completion_time": 0.28706789016723633, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 0, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.351664926252427, "block_0-gripper_Right": 0.3063537087374521, "block_1-gripper_Left": 0.4596071603565765, "block_1-gripper_Right": 0.21136835718886152, "cube 1 lift distance": 0.00011872842225391089, "cube 2 lift distance": 0.00013013052420818294 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.614155089403818, "bimanual_gripper_vertical_difference": 0.010638689093392495, "task_success": 0.0 }, { "completion_time": 0.30872678756713867, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 0, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.3518726874352061, "block_0-gripper_Right": 0.28831666149755614, "block_1-gripper_Left": 0.4606170415902561, "block_1-gripper_Right": 0.2023930356407572, "cube 1 lift distance": 0.00011873268642093038, "cube 2 lift distance": 0.0001301371505140203 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7118881307845674, "bimanual_gripper_vertical_difference": 0.012244786739215727, "task_success": 0.0 }, { "completion_time": 0.3296670913696289, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 0, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.3524187231163921, "block_0-gripper_Right": 0.2743067317271134, "block_1-gripper_Left": 0.461636028789768, "block_1-gripper_Right": 0.19619330927808423, "cube 1 lift distance": 0.00011873695148578722, "cube 2 lift distance": 0.00013014377821551903 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7998958159738679, "bimanual_gripper_vertical_difference": 0.013807322613664855, "task_success": 0.0 }, { "completion_time": 0.35062551498413086, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 0, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.35326847247736426, "block_0-gripper_Right": 0.26307969089645156, "block_1-gripper_Left": 0.4626400684316388, "block_1-gripper_Right": 0.1910998267760923, "cube 1 lift distance": 0.00011874121744848143, "cube 2 lift distance": 0.00013015040731312322 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.895624492568661, "bimanual_gripper_vertical_difference": 0.015406465196038416, "task_success": 0.0 }, { "completion_time": 0.37169480323791504, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 0, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.35279176350977093, "block_0-gripper_Right": 0.2611436136532927, "block_1-gripper_Left": 0.46232164096998174, "block_1-gripper_Right": 0.18885150039421722, "cube 1 lift distance": 0.00011874548430934606, "cube 2 lift distance": 0.00013015703780716592 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9147268617800923, "bimanual_gripper_vertical_difference": 0.01688279573108561, "task_success": 0.0 }, { "completion_time": 0.3930048942565918, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 0, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.3518183663378906, "block_0-gripper_Right": 0.2603260522632981, "block_1-gripper_Left": 0.46154491768687533, "block_1-gripper_Right": 0.18734774359181416, "cube 1 lift distance": 0.00011874975206849214, "cube 2 lift distance": 0.0001301636696978692 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8754429887460472, "bimanual_gripper_vertical_difference": 0.01819327641733269, "task_success": 0.0 }, { "completion_time": 0.414090633392334, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 0, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.35110980966817357, "block_0-gripper_Right": 0.25953431881802475, "block_1-gripper_Left": 0.4609761061789464, "block_1-gripper_Right": 0.18626266107455175, "cube 1 lift distance": 0.0001187540207260307, "cube 2 lift distance": 0.0001301703029855661 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8793186362909906, "bimanual_gripper_vertical_difference": 0.019362382467811173, "task_success": 0.0 }, { "completion_time": 0.43459439277648926, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 0, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.3503848576143022, "block_0-gripper_Right": 0.2586745775824772, "block_1-gripper_Left": 0.4603980335409357, "block_1-gripper_Right": 0.1850653245328354, "cube 1 lift distance": 0.00011875829028218376, "cube 2 lift distance": 0.00013017693767047867 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9056050311047308, "bimanual_gripper_vertical_difference": 0.02041336010712651, "task_success": 0.0 }, { "completion_time": 0.4585084915161133, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 0, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.34963588513198657, "block_0-gripper_Right": 0.2560922613447732, "block_1-gripper_Left": 0.4597905295078686, "block_1-gripper_Right": 0.18222857303751552, "cube 1 lift distance": 0.0001187625607371734, "cube 2 lift distance": 0.00013018357375293999 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9395621544003495, "bimanual_gripper_vertical_difference": 0.021407110388195046, "task_success": 0.0 }, { "completion_time": 0.47890758514404297, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 0, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.349121637648888, "block_0-gripper_Right": 0.2509346072028692, "block_1-gripper_Left": 0.4593190150476031, "block_1-gripper_Right": 0.17891546929230995, "cube 1 lift distance": 0.00011876683209133265, "cube 2 lift distance": 0.00013019021123328312 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9842669581003936, "bimanual_gripper_vertical_difference": 0.022379274234247945, "task_success": 0.0 }, { "completion_time": 0.4995729923248291, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 0, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.3487505683697783, "block_0-gripper_Right": 0.24570795071617624, "block_1-gripper_Left": 0.45893692917864204, "block_1-gripper_Right": 0.17747866482721672, "cube 1 lift distance": 0.00011877110434477256, "cube 2 lift distance": 0.0001301968501117301 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0304805092368112, "bimanual_gripper_vertical_difference": 0.02327799846826458, "task_success": 0.0 }, { "completion_time": 0.5203557014465332, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 0, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.34833380250260104, "block_0-gripper_Right": 0.2412496383052952, "block_1-gripper_Left": 0.45850378865388514, "block_1-gripper_Right": 0.1768077612691364, "cube 1 lift distance": 0.00011877537749749312, "cube 2 lift distance": 0.00013020349038883605 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0750218615057678, "bimanual_gripper_vertical_difference": 0.02410122796803446, "task_success": 0.0 }, { "completion_time": 0.5407125949859619, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 0, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.3475716449566071, "block_0-gripper_Right": 0.23682911629009978, "block_1-gripper_Left": 0.4576587122712551, "block_1-gripper_Right": 0.17449586887307916, "cube 1 lift distance": 0.00011877965154993841, "cube 2 lift distance": 0.00013021013206448995 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0782152674726257, "bimanual_gripper_vertical_difference": 0.02492621677377043, "task_success": 0.0 }, { "completion_time": 0.5611186027526855, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 0, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.34622134997843573, "block_0-gripper_Right": 0.23238831592878043, "block_1-gripper_Left": 0.45623829004892025, "block_1-gripper_Right": 0.17070426037467146, "cube 1 lift distance": 0.00011878392650210845, "cube 2 lift distance": 0.0001302167751392469 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.051381218605007, "bimanual_gripper_vertical_difference": 0.025807078927649423, "task_success": 0.0 }, { "completion_time": 0.5817272663116455, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 0, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.34503514253963186, "block_0-gripper_Right": 0.22775815413805256, "block_1-gripper_Left": 0.4549483006870792, "block_1-gripper_Right": 0.1655340448382538, "cube 1 lift distance": 0.00011878820235411425, "cube 2 lift distance": 0.00013022341961332895 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0451961628460067, "bimanual_gripper_vertical_difference": 0.026794657128846013, "task_success": 0.0 }, { "completion_time": 0.601975679397583, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 0, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.3438790556044833, "block_0-gripper_Right": 0.22216404205431833, "block_1-gripper_Left": 0.4537040260208403, "block_1-gripper_Right": 0.15787943406453214, "cube 1 lift distance": 0.00011879247910651092, "cube 2 lift distance": 0.00013023006548706917 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0257274284894178, "bimanual_gripper_vertical_difference": 0.027974640600201366, "task_success": 0.0 }, { "completion_time": 0.6227223873138428, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 0, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.34237671166472233, "block_0-gripper_Right": 0.21628961055094428, "block_1-gripper_Left": 0.4522314810543512, "block_1-gripper_Right": 0.14921001670538392, "cube 1 lift distance": 0.00011879675675918744, "cube 2 lift distance": 0.00013023671276057858 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.005427869611202, "bimanual_gripper_vertical_difference": 0.029354154675700992, "task_success": 0.0 }, { "completion_time": 0.6433408260345459, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 0, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.34063323112850025, "block_0-gripper_Right": 0.2107720484695968, "block_1-gripper_Left": 0.4506513863818574, "block_1-gripper_Right": 0.14091406246373142, "cube 1 lift distance": 0.00011880103531247688, "cube 2 lift distance": 0.00013024336143463433 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9857413511335796, "bimanual_gripper_vertical_difference": 0.03087762183164629, "task_success": 0.0 }, { "completion_time": 0.6633753776550293, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 0, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.3389032973007805, "block_0-gripper_Right": 0.20584000862473617, "block_1-gripper_Left": 0.44920465454545455, "block_1-gripper_Right": 0.13360475657788534, "cube 1 lift distance": 0.00011880531476649026, "cube 2 lift distance": 0.00013025001150890336 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9677825389930529, "bimanual_gripper_vertical_difference": 0.03248732125628999, "task_success": 0.0 }, { "completion_time": 0.684666633605957, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 0, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.33702448333277724, "block_0-gripper_Right": 0.20207293324390943, "block_1-gripper_Left": 0.4476824660447634, "block_1-gripper_Right": 0.12824898045773583, "cube 1 lift distance": 0.0001188095951213386, "cube 2 lift distance": 0.00013025666298416283 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9503361903763898, "bimanual_gripper_vertical_difference": 0.03411621374784598, "task_success": 0.0 }, { "completion_time": 0.7052524089813232, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 0, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.33537757958928505, "block_0-gripper_Right": 0.19940219190994923, "block_1-gripper_Left": 0.4463032033979924, "block_1-gripper_Right": 0.12505626055451122, "cube 1 lift distance": 0.00011881387637735497, "cube 2 lift distance": 0.00013026331586041273 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9281758054929123, "bimanual_gripper_vertical_difference": 0.03570471748329327, "task_success": 0.0 }, { "completion_time": 0.7259316444396973, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 0, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.3343539380313696, "block_0-gripper_Right": 0.1973514354243788, "block_1-gripper_Left": 0.4454327813059348, "block_1-gripper_Right": 0.12350610109703589, "cube 1 lift distance": 0.00011881815853465039, "cube 2 lift distance": 0.00013026997013809716 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9022972687159052, "bimanual_gripper_vertical_difference": 0.03722267160253198, "task_success": 0.0 }, { "completion_time": 0.7468166351318359, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 0, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.3341227825905432, "block_0-gripper_Right": 0.19569713305487252, "block_1-gripper_Left": 0.4452330686132294, "block_1-gripper_Right": 0.12291599929449885, "cube 1 lift distance": 0.0001188224415934469, "cube 2 lift distance": 0.00013027662581743815 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8787589640903677, "bimanual_gripper_vertical_difference": 0.03867590469115201, "task_success": 0.0 }, { "completion_time": 0.7673218250274658, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 0, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.3350253297797837, "block_0-gripper_Right": 0.1941352153407159, "block_1-gripper_Left": 0.44593223867984355, "block_1-gripper_Right": 0.1224472046503515, "cube 1 lift distance": 0.00011882672555385554, "cube 2 lift distance": 0.00013028328289899083 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8553009901916129, "bimanual_gripper_vertical_difference": 0.04009605834828449, "task_success": 0.0 }, { "completion_time": 0.787571907043457, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 0, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.3363876630920767, "block_0-gripper_Right": 0.1930291959936416, "block_1-gripper_Left": 0.44690018370497275, "block_1-gripper_Right": 0.12179957082101438, "cube 1 lift distance": 0.00011883101041620936, "cube 2 lift distance": 0.00013028994138264416 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8358201975650914, "bimanual_gripper_vertical_difference": 0.041494077931329545, "task_success": 0.0 }, { "completion_time": 0.8077919483184814, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 0, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.33739974946813134, "block_0-gripper_Right": 0.19498295139918648, "block_1-gripper_Left": 0.4460159950983946, "block_1-gripper_Right": 0.12134428457905937, "cube 1 lift distance": 0.00011883529618583744, "cube 2 lift distance": 0.00041840203973886325 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.818184151347043, "bimanual_gripper_vertical_difference": 0.0428344136315118, "task_stage_reached": { "1": true }, "task_success": 0.0 }, { "completion_time": 0.828779935836792, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 0, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.3375013572187125, "block_0-gripper_Right": 0.1957914084703435, "block_1-gripper_Left": 0.4464587279415673, "block_1-gripper_Right": 0.12144812190438882, "cube 1 lift distance": 0.00011883958286496021, "cube 2 lift distance": 0.0004503583289688917 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7985071118350654, "bimanual_gripper_vertical_difference": 0.04408922216758315, "task_stage_reached": { "1": true }, "task_success": 0.0 }, { "completion_time": 0.8494491577148438, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 0, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.33736758400652345, "block_0-gripper_Right": 0.19612970905711408, "block_1-gripper_Left": 0.4468086906179314, "block_1-gripper_Right": 0.1214567643055829, "cube 1 lift distance": 0.00011884387044702738, "cube 2 lift distance": 0.0003909338372193316 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7824862147285947, "bimanual_gripper_vertical_difference": 0.04524940142700067, "task_stage_reached": { "1": true }, "task_success": 0.0 }, { "completion_time": 0.8729734420776367, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 0, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.33723141034753784, "block_0-gripper_Right": 0.1962179666075992, "block_1-gripper_Left": 0.4466739583711638, "block_1-gripper_Right": 0.12145208682509352, "cube 1 lift distance": 0.00011884815893181688, "cube 2 lift distance": 0.0005469693484075888 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7661813560112594, "bimanual_gripper_vertical_difference": 0.04631445905958508, "task_stage_reached": { "1": true }, "task_success": 0.0 }, { "completion_time": 0.8937833309173584, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 0, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.33719339657830666, "block_0-gripper_Right": 0.19641446280395897, "block_1-gripper_Left": 0.44652425937592527, "block_1-gripper_Right": 0.12145182915907378, "cube 1 lift distance": 0.00011885244831955077, "cube 2 lift distance": 0.0006470785600658502 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7494158125598109, "bimanual_gripper_vertical_difference": 0.04730247140573839, "task_stage_reached": { "1": true }, "task_success": 0.0 }, { "completion_time": 0.9144768714904785, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 0, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.3374544559829907, "block_0-gripper_Right": 0.1963619943059668, "block_1-gripper_Left": 0.44650991469141804, "block_1-gripper_Right": 0.12145989180634387, "cube 1 lift distance": 0.00011885673861011803, "cube 2 lift distance": 0.000786506448422708 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7330108638706881, "bimanual_gripper_vertical_difference": 0.04823112071692868, "task_stage_reached": { "1": true }, "task_success": 0.0 }, { "completion_time": 0.9357707500457764, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 0, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.33826845611135414, "block_0-gripper_Right": 0.1954692556895542, "block_1-gripper_Left": 0.44572502722536, "block_1-gripper_Right": 0.12143061219674475, "cube 1 lift distance": 0.00011886102980396274, "cube 2 lift distance": 0.0008903991985895754 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7196978588292621, "bimanual_gripper_vertical_difference": 0.049121027015664565, "task_stage_reached": { "1": true }, "task_success": 0.0 }, { "completion_time": 0.9561638832092285, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 0, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.33930352586089274, "block_0-gripper_Right": 0.19284667120366286, "block_1-gripper_Left": 0.4373282688046075, "block_1-gripper_Right": 0.12127561034643183, "cube 1 lift distance": 0.00011886532190130694, "cube 2 lift distance": 0.005878062563838049 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7226664635933915, "bimanual_gripper_vertical_difference": 0.049882470341679745, "task_stage_reached": { "1": true }, "task_success": 0.0 }, { "completion_time": 0.9767262935638428, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 0, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.3400397930001581, "block_0-gripper_Right": 0.19139731018752706, "block_1-gripper_Left": 0.4200079326117657, "block_1-gripper_Right": 0.12113866981664372, "cube 1 lift distance": 0.00011886961490215064, "cube 2 lift distance": 0.019067554138169407 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7430930278873085, "bimanual_gripper_vertical_difference": 0.05035497606156171, "task_stage_reached": { "1": true }, "task_success": 0.0 }, { "completion_time": 0.9991631507873535, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 0, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.34049818257674375, "block_0-gripper_Right": 0.19225904763176266, "block_1-gripper_Left": 0.39692612692230306, "block_1-gripper_Right": 0.12112997595281542, "cube 1 lift distance": 0.00011887390880682691, "cube 2 lift distance": 0.036615509892163 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7679150489442371, "bimanual_gripper_vertical_difference": 0.050460666017742156, "task_stage_reached": { "1": true }, "task_success": 0.0 }, { "completion_time": 1.0198974609375, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 0, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.3406475404446934, "block_0-gripper_Right": 0.19202030689657879, "block_1-gripper_Left": 0.37254359088733086, "block_1-gripper_Right": 0.12117420548317405, "cube 1 lift distance": 0.00011887820361544676, "cube 2 lift distance": 0.0503983749097503 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7842993636659973, "bimanual_gripper_vertical_difference": 0.05029580232406302, "task_stage_reached": { "1": true }, "task_success": 0.0 }, { "completion_time": 1.0406973361968994, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 0, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.3403921551245678, "block_0-gripper_Right": 0.18901326906932672, "block_1-gripper_Left": 0.3504552208147639, "block_1-gripper_Right": 0.1212500104036867, "cube 1 lift distance": 0.00011888249932823225, "cube 2 lift distance": 0.0571959967415443 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7926617185322803, "bimanual_gripper_vertical_difference": 0.050007831316203455, "task_stage_reached": { "1": true }, "task_success": 0.0 }, { "completion_time": 1.0614478588104248, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 0, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.33975653997574845, "block_0-gripper_Right": 0.18371005687613073, "block_1-gripper_Left": 0.332897655857648, "block_1-gripper_Right": 0.12134010650736277, "cube 1 lift distance": 0.00011888679594551643, "cube 2 lift distance": 0.05769531434899222 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7948779586830151, "bimanual_gripper_vertical_difference": 0.04971227670684513, "task_stage_reached": { "1": true }, "task_success": 0.0 }, { "completion_time": 1.0824909210205078, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 0, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.33867018847639324, "block_0-gripper_Right": 0.17728613615114594, "block_1-gripper_Left": 0.32044764761990285, "block_1-gripper_Right": 0.12142961374871653, "cube 1 lift distance": 0.00011889109346718829, "cube 2 lift distance": 0.05412348108298293 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7890419691479822, "bimanual_gripper_vertical_difference": 0.04947240771001729, "task_stage_reached": { "1": true }, "task_success": 0.0 }, { "completion_time": 1.1038546562194824, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 0, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.33715556861834695, "block_0-gripper_Right": 0.17130873723091622, "block_1-gripper_Left": 0.31161262300202697, "block_1-gripper_Right": 0.12146949295635484, "cube 1 lift distance": 0.00011889539189369192, "cube 2 lift distance": 0.04929169020637292 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7783972741012597, "bimanual_gripper_vertical_difference": 0.049296222194342626, "task_stage_reached": { "1": true }, "task_success": 0.0 }, { "completion_time": 1.1250824928283691, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 0, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.33562805755978403, "block_0-gripper_Right": 0.16640834454572379, "block_1-gripper_Left": 0.30538196765120795, "block_1-gripper_Right": 0.12147524652888383, "cube 1 lift distance": 0.0001188996912250273, "cube 2 lift distance": 0.044579648680711736 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7640714942431888, "bimanual_gripper_vertical_difference": 0.04916900410196314, "task_stage_reached": { "1": true }, "task_success": 0.0 }, { "completion_time": 1.145312786102295, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 0, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.33438389274545866, "block_0-gripper_Right": 0.16193852862557817, "block_1-gripper_Left": 0.301843764781958, "block_1-gripper_Right": 0.1214597802529292, "cube 1 lift distance": 0.00018980041073812792, "cube 2 lift distance": 0.039846707484143984 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7502892435966716, "bimanual_gripper_vertical_difference": 0.04908982565446741, "task_stage_reached": { "1": true, "3": true }, "task_success": 0.0 }, { "completion_time": 1.1655826568603516, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 0, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.3327477838917619, "block_0-gripper_Right": 0.16121019260852312, "block_1-gripper_Left": 0.2997299738879188, "block_1-gripper_Right": 0.12149202389600829, "cube 1 lift distance": 0.0014177328781111997, "cube 2 lift distance": 0.040195839854820115 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7377206233468308, "bimanual_gripper_vertical_difference": 0.04897441444884537, "task_stage_reached": { "1": true, "3": true }, "task_success": 0.0 }, { "completion_time": 1.1861541271209717, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 0, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.3329041736725174, "block_0-gripper_Right": 0.16128729152487922, "block_1-gripper_Left": 0.2993888482537242, "block_1-gripper_Right": 0.12153437136209443, "cube 1 lift distance": 0.0011894489373629469, "cube 2 lift distance": 0.03989477379938555 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7288158447677677, "bimanual_gripper_vertical_difference": 0.04884596026940902, "task_stage_reached": { "1": true, "3": true }, "task_success": 0.0 }, { "completion_time": 1.2070214748382568, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 0, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.33330756125451055, "block_0-gripper_Right": 0.16150193692757506, "block_1-gripper_Left": 0.29929221177813986, "block_1-gripper_Right": 0.1215592355851609, "cube 1 lift distance": 0.001031047889533565, "cube 2 lift distance": 0.03992022041155452 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7189015766894556, "bimanual_gripper_vertical_difference": 0.04870673935351595, "task_stage_reached": { "1": true, "3": true }, "task_success": 0.0 }, { "completion_time": 1.228590488433838, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 0, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.33387134360602755, "block_0-gripper_Right": 0.16157906071910755, "block_1-gripper_Left": 0.29954119366380677, "block_1-gripper_Right": 0.12159407809792039, "cube 1 lift distance": 0.0010488423045024176, "cube 2 lift distance": 0.040026242367355414 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7087195257921206, "bimanual_gripper_vertical_difference": 0.04856213570742825, "task_stage_reached": { "1": true, "3": true }, "task_success": 0.0 }, { "completion_time": 1.249922513961792, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 0, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.33458352622288556, "block_0-gripper_Right": 0.16163105046997422, "block_1-gripper_Left": 0.3001277808722581, "block_1-gripper_Right": 0.1216151374592576, "cube 1 lift distance": 0.0010161052984763996, "cube 2 lift distance": 0.040103550747009775 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6980670161322383, "bimanual_gripper_vertical_difference": 0.0484195644171636, "task_stage_reached": { "1": true, "3": true }, "task_success": 0.0 }, { "completion_time": 1.2712347507476807, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 0, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.33523614821362574, "block_0-gripper_Right": 0.16167483811483263, "block_1-gripper_Left": 0.30077847966386706, "block_1-gripper_Right": 0.1216418793063021, "cube 1 lift distance": 0.000948198665859934, "cube 2 lift distance": 0.04016391513305706 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6888877183670434, "bimanual_gripper_vertical_difference": 0.04828478982242461, "task_stage_reached": { "1": true, "3": true }, "task_success": 0.0 }, { "completion_time": 1.2958149909973145, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 0, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.3362828013188896, "block_0-gripper_Right": 0.16303852263941307, "block_1-gripper_Left": 0.3018305298736688, "block_1-gripper_Right": 0.12167198997211541, "cube 1 lift distance": 4.7600553820692504e-05, "cube 2 lift distance": 0.04080786564361549 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6824107408125699, "bimanual_gripper_vertical_difference": 0.048149513957272766, "task_stage_reached": { "1": true, "3": true }, "task_success": 0.0 }, { "completion_time": 1.3193976879119873, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 0, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.3366575663203808, "block_0-gripper_Right": 0.16296861119899175, "block_1-gripper_Left": 0.30381031035664563, "block_1-gripper_Right": 0.12169376501159486, "cube 1 lift distance": 0.00010721508152156112, "cube 2 lift distance": 0.04111336008754596 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6763925899054342, "bimanual_gripper_vertical_difference": 0.04802083428415511, "task_stage_reached": { "1": true, "3": true }, "task_success": 0.0 }, { "completion_time": 1.3451964855194092, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 0, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.3369998286702078, "block_0-gripper_Right": 0.16307487651940292, "block_1-gripper_Left": 0.3060778869256056, "block_1-gripper_Right": 0.12170787220306671, "cube 1 lift distance": 0.00010792124605141229, "cube 2 lift distance": 0.041466064081559395 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6719406898662694, "bimanual_gripper_vertical_difference": 0.0479005917627546, "task_stage_reached": { "1": true, "3": true }, "task_success": 0.0 }, { "completion_time": 1.3710651397705078, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 0, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.33726985943918314, "block_0-gripper_Right": 0.1629562462253942, "block_1-gripper_Left": 0.3081455927673231, "block_1-gripper_Right": 0.12168785073201824, "cube 1 lift distance": 0.00010792803713466359, "cube 2 lift distance": 0.04149615359052805 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6663890254268703, "bimanual_gripper_vertical_difference": 0.04779553332002795, "task_stage_reached": { "1": true, "3": true }, "task_success": 0.0 }, { "completion_time": 1.3934533596038818, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 0, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.33749515646409706, "block_0-gripper_Right": 0.1631126095834768, "block_1-gripper_Left": 0.3097669691440467, "block_1-gripper_Right": 0.12165165690306018, "cube 1 lift distance": 0.00010793005406639633, "cube 2 lift distance": 0.04173792440482971 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.658512389965955, "bimanual_gripper_vertical_difference": 0.04770078598945719, "task_stage_reached": { "1": true, "3": true }, "task_success": 0.0 }, { "completion_time": 1.415287733078003, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 0, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.3377571037870892, "block_0-gripper_Right": 0.163500553381391, "block_1-gripper_Left": 0.3110445461944086, "block_1-gripper_Right": 0.12162896547223054, "cube 1 lift distance": 0.00010793203881986901, "cube 2 lift distance": 0.04216438320790017 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6498001846584535, "bimanual_gripper_vertical_difference": 0.04761252208688991, "task_stage_reached": { "1": true, "3": true }, "task_success": 0.0 }, { "completion_time": 1.4378812313079834, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 0, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.33810057194053694, "block_0-gripper_Right": 0.1644963935583571, "block_1-gripper_Left": 0.3138607222770375, "block_1-gripper_Right": 0.12473453741959263, "cube 1 lift distance": 0.00018756363355687533, "cube 2 lift distance": 0.040100570987705586 }, "success": 1.0, "bimanual_arm_velocity_difference": 0.6453178387699153, "bimanual_gripper_vertical_difference": 0.04752207390405784, "task_stage_reached": { "1": true, "3": true }, "task_success": 1.0 } ]