[ { "completion_time": 0.039244651794433594, "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": 0.28304927306848576, "block_0-gripper_Right": 0.5657956910097197, "block_1-gripper_Left": 0.3641633161961394, "block_1-gripper_Right": 0.43888813612278177, "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": 0.06188607215881348, "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": 0.2996061583642128, "block_0-gripper_Right": 0.5742702795594785, "block_1-gripper_Left": 0.37718777396955905, "block_1-gripper_Right": 0.44977004345129823, "cube 1 lift distance": 0.0012025261798247477, "cube 2 lift distance": 0.001174445904316146 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.8177482832837377e-07, "bimanual_gripper_vertical_difference": 8.911561488744724e-10, "task_success": 0.0 }, { "completion_time": 0.08434247970581055, "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": 0.30013489131686116, "block_0-gripper_Right": 0.5745545130767625, "block_1-gripper_Left": 0.3775603794512438, "block_1-gripper_Right": 0.45009298733891756, "cube 1 lift distance": 0.0006937403668592079, "cube 2 lift distance": 0.0007103614678211079 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1519356996173707e-05, "bimanual_gripper_vertical_difference": 9.828236742966585e-10, "task_success": 0.0 }, { "completion_time": 0.10726332664489746, "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": 0.2998154553335746, "block_0-gripper_Right": 0.5743925132882765, "block_1-gripper_Left": 0.3772967543975998, "block_1-gripper_Right": 0.4498779786385055, "cube 1 lift distance": 0.00011712019369503057, "cube 2 lift distance": 0.00012949691729846613 }, "success": 0.0, "bimanual_arm_velocity_difference": 8.649264845663092e-06, "bimanual_gripper_vertical_difference": 1.2545363636817797e-09, "task_success": 0.0 }, { "completion_time": 0.12951302528381348, "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": 0.29948419943773297, "block_0-gripper_Right": 0.5742224614455569, "block_1-gripper_Left": 0.37703323322950905, "block_1-gripper_Right": 0.449660538564396, "cube 1 lift distance": 0.00011868362377209785, "cube 2 lift distance": 0.00012998499594663038 }, "success": 0.0, "bimanual_arm_velocity_difference": 7.326173068973249e-06, "bimanual_gripper_vertical_difference": 1.8922112765551447e-09, "task_success": 0.0 }, { "completion_time": 0.15167498588562012, "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": 0.29927102575619435, "block_0-gripper_Right": 0.574112934324165, "block_1-gripper_Left": 0.3768633138317702, "block_1-gripper_Right": 0.4495201415649138, "cube 1 lift distance": 0.00011869852503720857, "cube 2 lift distance": 0.00012999491773268979 }, "success": 0.0, "bimanual_arm_velocity_difference": 6.121647884875803e-06, "bimanual_gripper_vertical_difference": 2.5920035377306285e-09, "task_success": 0.0 }, { "completion_time": 0.17527270317077637, "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": 0.2991332833950131, "block_0-gripper_Right": 0.5740420893754793, "block_1-gripper_Left": 0.37675356416586736, "block_1-gripper_Right": 0.44942935305059833, "cube 1 lift distance": 0.00011870285559301141, "cube 2 lift distance": 0.00013000157660125744 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.00015015563274311923, "bimanual_gripper_vertical_difference": 2.7455897872690524e-09, "task_success": 0.0 }, { "completion_time": 0.19820046424865723, "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": 0.2990441837036528, "block_0-gripper_Right": 0.5739962144659162, "block_1-gripper_Left": 0.3766825849558194, "block_1-gripper_Right": 0.44937058257299517, "cube 1 lift distance": 0.00011870711487393937, "cube 2 lift distance": 0.0001300082145829773 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.00013141733689151966, "bimanual_gripper_vertical_difference": 2.740098842268779e-09, "task_success": 0.0 }, { "completion_time": 0.22168254852294922, "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": 0.2989865758643331, "block_0-gripper_Right": 0.5739665082855813, "block_1-gripper_Left": 0.3766367257829704, "block_1-gripper_Right": 0.44933253820748464, "cube 1 lift distance": 0.00011871137455876646, "cube 2 lift distance": 0.00013001485381070044 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.00011695354726401192, "bimanual_gripper_vertical_difference": 2.4490525903549574e-09, "task_success": 0.0 }, { "completion_time": 0.2449798583984375, "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": 0.2970720390853463, "block_0-gripper_Right": 0.573548940975185, "block_1-gripper_Left": 0.37517701663034286, "block_1-gripper_Right": 0.44869241750345873, "cube 1 lift distance": 0.000118715635136879, "cube 2 lift distance": 0.00013002149443597233 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.07009801804033103, "bimanual_gripper_vertical_difference": 3.2926875243077805e-05, "task_success": 0.0 }, { "completion_time": 0.2694737911224365, "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": 0.2934526128911854, "block_0-gripper_Right": 0.5744468484967794, "block_1-gripper_Left": 0.37229264227408276, "block_1-gripper_Right": 0.44937498289213945, "cube 1 lift distance": 0.00011871989661205173, "cube 2 lift distance": 0.0001300281364599032 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.14978350276398372, "bimanual_gripper_vertical_difference": 0.0002124378880597113, "task_success": 0.0 }, { "completion_time": 0.2935669422149658, "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": 0.28776785428713303, "block_0-gripper_Right": 0.5759117013064882, "block_1-gripper_Left": 0.3669502664333735, "block_1-gripper_Right": 0.45071400428662417, "cube 1 lift distance": 0.00011872415898417366, "cube 2 lift distance": 0.00013003477988304812 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.2348321795575552, "bimanual_gripper_vertical_difference": 0.0006079696152159938, "task_success": 0.0 }, { "completion_time": 0.3188483715057373, "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": 0.279734892211109, "block_0-gripper_Right": 0.5766659015597624, "block_1-gripper_Left": 0.3588881789500467, "block_1-gripper_Right": 0.4514039523628944, "cube 1 lift distance": 0.00011872842225391089, "cube 2 lift distance": 0.00013004142470551816 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.33157050480860295, "bimanual_gripper_vertical_difference": 0.0012906898272945137, "task_success": 0.0 }, { "completion_time": 0.3442847728729248, "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": 0.2725899921564341, "block_0-gripper_Right": 0.5763663871892593, "block_1-gripper_Left": 0.35184376126332206, "block_1-gripper_Right": 0.45107584955127256, "cube 1 lift distance": 0.00011873268642093038, "cube 2 lift distance": 0.0001300480709278684 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.4285816156702284, "bimanual_gripper_vertical_difference": 0.002166293184887575, "task_success": 0.0 }, { "completion_time": 0.36991405487060547, "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": 0.26716722881095845, "block_0-gripper_Right": 0.5755148843838053, "block_1-gripper_Left": 0.346935451889339, "block_1-gripper_Right": 0.45020161628603844, "cube 1 lift distance": 0.00011873695148578722, "cube 2 lift distance": 0.00013005471854998785 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.5211134457263823, "bimanual_gripper_vertical_difference": 0.0031294048482342074, "task_success": 0.0 }, { "completion_time": 0.3943295478820801, "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": 0.2628224157354283, "block_0-gripper_Right": 0.5748190455081672, "block_1-gripper_Left": 0.3431316727329317, "block_1-gripper_Right": 0.4494995594765663, "cube 1 lift distance": 0.00011874121744848143, "cube 2 lift distance": 0.0001300613675725426 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6079625024276946, "bimanual_gripper_vertical_difference": 0.004145896950728811, "task_success": 0.0 }, { "completion_time": 0.41875767707824707, "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": 0.26004683822445435, "block_0-gripper_Right": 0.5744607962659287, "block_1-gripper_Left": 0.3409206083193484, "block_1-gripper_Right": 0.44918980519858154, "cube 1 lift distance": 0.00011874548430923504, "cube 2 lift distance": 0.00013006801799564371 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6859067031461477, "bimanual_gripper_vertical_difference": 0.005178635574126201, "task_success": 0.0 }, { "completion_time": 0.44530272483825684, "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": 0.26360539860429977, "block_0-gripper_Right": 0.5743327324244727, "block_1-gripper_Left": 0.3458100315983386, "block_1-gripper_Right": 0.44911433115003946, "cube 1 lift distance": 0.00011874975206849214, "cube 2 lift distance": 0.00013007466981962423 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7614406615066148, "bimanual_gripper_vertical_difference": 0.0059555572619975905, "task_success": 0.0 }, { "completion_time": 0.46880602836608887, "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": 0.26273249578706276, "block_0-gripper_Right": 0.5736429557154114, "block_1-gripper_Left": 0.34536040437866, "block_1-gripper_Right": 0.44824166032708923, "cube 1 lift distance": 0.0001187540207260307, "cube 2 lift distance": 0.00013008132304481723 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8366336890435592, "bimanual_gripper_vertical_difference": 0.00662368117880716, "task_success": 0.0 }, { "completion_time": 0.49137282371520996, "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": 0.26119964469632334, "block_0-gripper_Right": 0.5730427865431134, "block_1-gripper_Left": 0.34400623547245457, "block_1-gripper_Right": 0.44746539531682356, "cube 1 lift distance": 0.00011875829028218376, "cube 2 lift distance": 0.00013008797767144475 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9059833468940912, "bimanual_gripper_vertical_difference": 0.0072285662542561965, "task_success": 0.0 }, { "completion_time": 0.5174903869628906, "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": 0.26019553229550885, "block_0-gripper_Right": 0.5726538380443625, "block_1-gripper_Left": 0.3431191352770724, "block_1-gripper_Right": 0.4469618751755389, "cube 1 lift distance": 0.0001187625607371734, "cube 2 lift distance": 0.0001300946336999509 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9698320153677772, "bimanual_gripper_vertical_difference": 0.007778344681243049, "task_success": 0.0 }, { "completion_time": 0.5399887561798096, "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": 0.2574094001273866, "block_0-gripper_Right": 0.5719604598158283, "block_1-gripper_Left": 0.34015206151197624, "block_1-gripper_Right": 0.44605687209022216, "cube 1 lift distance": 0.00011876683209133265, "cube 2 lift distance": 0.00013010129113033564 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.026191930688985, "bimanual_gripper_vertical_difference": 0.008299602770676843, "task_success": 0.0 }, { "completion_time": 0.5631842613220215, "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": 0.24851778186335619, "block_0-gripper_Right": 0.5714787614001757, "block_1-gripper_Left": 0.3288695527590737, "block_1-gripper_Right": 0.4453497522746838, "cube 1 lift distance": 0.00011877110434466154, "cube 2 lift distance": 0.00013010794996326513 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.081043244210782, "bimanual_gripper_vertical_difference": 0.008952715847091645, "task_success": 0.0 }, { "completion_time": 0.5866341590881348, "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": 0.23513037096520126, "block_0-gripper_Right": 0.5710409291668124, "block_1-gripper_Left": 0.31131175839581504, "block_1-gripper_Right": 0.44474364761828145, "cube 1 lift distance": 0.00011877537749749312, "cube 2 lift distance": 0.0001301146101988504 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1356524900807268, "bimanual_gripper_vertical_difference": 0.009883720793032652, "task_success": 0.0 }, { "completion_time": 0.6093132495880127, "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": 0.22124076200215262, "block_0-gripper_Right": 0.570123813268765, "block_1-gripper_Left": 0.29221779433886713, "block_1-gripper_Right": 0.4437476040788122, "cube 1 lift distance": 0.00011877965154993841, "cube 2 lift distance": 0.00013012127183720246 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1863182075528316, "bimanual_gripper_vertical_difference": 0.011118911662593307, "task_success": 0.0 }, { "completion_time": 0.6322870254516602, "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": 0.20837212648847134, "block_0-gripper_Right": 0.5689096855964283, "block_1-gripper_Left": 0.2735418115976175, "block_1-gripper_Right": 0.44253175249347876, "cube 1 lift distance": 0.00011878392650210845, "cube 2 lift distance": 0.0001301279348787654 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2330333137924554, "bimanual_gripper_vertical_difference": 0.012649149886763415, "task_success": 0.0 }, { "completion_time": 0.6549670696258545, "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": 0.19609608126820316, "block_0-gripper_Right": 0.5679935920079747, "block_1-gripper_Left": 0.2560187354173937, "block_1-gripper_Right": 0.4416112008560112, "cube 1 lift distance": 0.00011878820235411425, "cube 2 lift distance": 0.0001301345993239833 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.276793269329744, "bimanual_gripper_vertical_difference": 0.01448065989840868, "task_success": 0.0 }, { "completion_time": 0.6774256229400635, "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": 0.1835127333671778, "block_0-gripper_Right": 0.5677668848079411, "block_1-gripper_Left": 0.23987006597134242, "block_1-gripper_Right": 0.4413070698928606, "cube 1 lift distance": 0.00011879247910651092, "cube 2 lift distance": 0.0001301412651729672 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3184747003645596, "bimanual_gripper_vertical_difference": 0.016593212656620355, "task_success": 0.0 }, { "completion_time": 0.7006704807281494, "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": 0.17103573284376172, "block_0-gripper_Right": 0.5679212286232163, "block_1-gripper_Left": 0.2254305525022302, "block_1-gripper_Right": 0.4413397281533705, "cube 1 lift distance": 0.00011879675675918744, "cube 2 lift distance": 0.00013014793242605016 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3582805097408226, "bimanual_gripper_vertical_difference": 0.01892958121473825, "task_success": 0.0 }, { "completion_time": 0.7245392799377441, "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": 0.15854896010991582, "block_0-gripper_Right": 0.5681669037840256, "block_1-gripper_Left": 0.21292367073909296, "block_1-gripper_Right": 0.44146090142057653, "cube 1 lift distance": 0.00011880103531247688, "cube 2 lift distance": 0.00013015460108367627 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.371710369872318, "bimanual_gripper_vertical_difference": 0.021450246810083836, "task_success": 0.0 }, { "completion_time": 0.7478117942810059, "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": 0.14634496264143118, "block_0-gripper_Right": 0.5683378060720384, "block_1-gripper_Left": 0.20338271374059, "block_1-gripper_Right": 0.44151763663974963, "cube 1 lift distance": 0.00011880531476649026, "cube 2 lift distance": 0.00013016127114606757 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3643366953854896, "bimanual_gripper_vertical_difference": 0.02412411452228371, "task_success": 0.0 }, { "completion_time": 0.7712194919586182, "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": 0.13551064597032272, "block_0-gripper_Right": 0.5685394137134815, "block_1-gripper_Left": 0.19815672396127565, "block_1-gripper_Right": 0.4416039481126275, "cube 1 lift distance": 0.0001188095951213386, "cube 2 lift distance": 0.00013016794261322406 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3550920027711508, "bimanual_gripper_vertical_difference": 0.026901953761081072, "task_success": 0.0 }, { "completion_time": 0.7956380844116211, "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": 0.12757847684517845, "block_0-gripper_Right": 0.5689570375290715, "block_1-gripper_Left": 0.19750791804770015, "block_1-gripper_Right": 0.44187716099914315, "cube 1 lift distance": 0.00011881387637735497, "cube 2 lift distance": 0.0001301746154859229 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3596121962705918, "bimanual_gripper_vertical_difference": 0.029708106671329844, "task_success": 0.0 }, { "completion_time": 0.8197603225708008, "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": 0.12340840647434842, "block_0-gripper_Right": 0.5698467910870137, "block_1-gripper_Left": 0.1996836088327847, "block_1-gripper_Right": 0.4425725902996309, "cube 1 lift distance": 0.00011881815853465039, "cube 2 lift distance": 0.00013018128976427512 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3719628924612546, "bimanual_gripper_vertical_difference": 0.03246057188833779, "task_success": 0.0 }, { "completion_time": 0.8434391021728516, "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": 0.12153543936698369, "block_0-gripper_Right": 0.5715306734992828, "block_1-gripper_Left": 0.2013876284805804, "block_1-gripper_Right": 0.44404847740418835, "cube 1 lift distance": 0.0001188224415934469, "cube 2 lift distance": 0.00013018796544839173 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3867415657409012, "bimanual_gripper_vertical_difference": 0.035128741461656794, "task_success": 0.0 }, { "completion_time": 0.8660061359405518, "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": 0.11949696157856368, "block_0-gripper_Right": 0.5739972946241917, "block_1-gripper_Left": 0.20067325146202875, "block_1-gripper_Right": 0.4463496713174919, "cube 1 lift distance": 0.00011882672555385554, "cube 2 lift distance": 0.00013019464253882784 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4037250729586725, "bimanual_gripper_vertical_difference": 0.037743108894773524, "task_success": 0.0 }, { "completion_time": 0.8889374732971191, "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": 0.11596512424487052, "block_0-gripper_Right": 0.5766628898795052, "block_1-gripper_Left": 0.19705934237786837, "block_1-gripper_Right": 0.44893517189985443, "cube 1 lift distance": 0.00011883101041620936, "cube 2 lift distance": 0.0001302013210358055 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.421709032298689, "bimanual_gripper_vertical_difference": 0.040336512990958195, "task_success": 0.0 }, { "completion_time": 0.9118959903717041, "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": 0.11045896369889854, "block_0-gripper_Right": 0.578629384290222, "block_1-gripper_Left": 0.19197424676034033, "block_1-gripper_Right": 0.45091365869086547, "cube 1 lift distance": 0.00011883529618061939, "cube 2 lift distance": 0.00013020800093954676 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.441237801931953, "bimanual_gripper_vertical_difference": 0.04291969906776534, "task_success": 0.0 }, { "completion_time": 0.935356616973877, "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": 0.1070733003907948, "block_0-gripper_Right": 0.5790845806391871, "block_1-gripper_Left": 0.189353001777527, "block_1-gripper_Right": 0.4514726430981242, "cube 1 lift distance": 0.0001188395828529698, "cube 2 lift distance": 0.00013021468225615784 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4619893879470764, "bimanual_gripper_vertical_difference": 0.045409217465158254, "task_success": 0.0 }, { "completion_time": 0.9584150314331055, "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": 0.10464497243640145, "block_0-gripper_Right": 0.5779463326744515, "block_1-gripper_Left": 0.18801439896999522, "block_1-gripper_Right": 0.4504754906989308, "cube 1 lift distance": 0.00011884387043459288, "cube 2 lift distance": 0.00013022136498686 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4766190275339584, "bimanual_gripper_vertical_difference": 0.04778550390731911, "task_success": 0.0 }, { "completion_time": 0.9861578941345215, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.10353445014553188, "block_0-gripper_Right": 0.5758882676334778, "block_1-gripper_Left": 0.1875175714095743, "block_1-gripper_Right": 0.44857264192921353, "cube 1 lift distance": 0.00011884815891205491, "cube 2 lift distance": 0.0001302280491186636 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4756503041814977, "bimanual_gripper_vertical_difference": 0.05004234702423414, "task_success": 0.0 }, { "completion_time": 1.0104739665985107, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.10314398709896104, "block_0-gripper_Right": 0.5740910337270101, "block_1-gripper_Left": 0.18772915040642235, "block_1-gripper_Right": 0.44689816653351583, "cube 1 lift distance": 0.00011885244828890862, "cube 2 lift distance": 0.00013023473465456625 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.466864767547989, "bimanual_gripper_vertical_difference": 0.05218747224278771, "task_success": 0.0 }, { "completion_time": 1.0344057083129883, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.10316633048586174, "block_0-gripper_Right": 0.5732434734694645, "block_1-gripper_Left": 0.1885830067823061, "block_1-gripper_Right": 0.4461161755567055, "cube 1 lift distance": 0.00011885673856693035, "cube 2 lift distance": 0.00013024142159734353 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4622559160836428, "bimanual_gripper_vertical_difference": 0.05422476225605908, "task_success": 0.0 }, { "completion_time": 1.0571868419647217, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.10540944666131702, "block_0-gripper_Right": 0.5727823909257541, "block_1-gripper_Left": 0.19363923648404394, "block_1-gripper_Right": 0.4456682447953986, "cube 1 lift distance": 0.00011886102974778545, "cube 2 lift distance": 0.00013024810994821667 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4758945227955467, "bimanual_gripper_vertical_difference": 0.05612075415136035, "task_success": 0.0 }, { "completion_time": 1.079594612121582, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.11021117356289965, "block_0-gripper_Right": 0.5721376258027017, "block_1-gripper_Left": 0.19995603535715695, "block_1-gripper_Right": 0.4450159432516589, "cube 1 lift distance": 0.00011886532183202903, "cube 2 lift distance": 0.00013025479970796283 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5056745950567558, "bimanual_gripper_vertical_difference": 0.057818859699190935, "task_success": 0.0 }, { "completion_time": 1.1022868156433105, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.11576614153068632, "block_0-gripper_Right": 0.5714770135620899, "block_1-gripper_Left": 0.2050174435020026, "block_1-gripper_Right": 0.4443399616905561, "cube 1 lift distance": 0.00011886961481988312, "cube 2 lift distance": 0.00013026149087691508 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5490287320127525, "bimanual_gripper_vertical_difference": 0.059303573599690546, "task_success": 0.0 }, { "completion_time": 1.1261787414550781, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.12029365399076837, "block_0-gripper_Right": 0.5713199523302667, "block_1-gripper_Left": 0.20830744475627858, "block_1-gripper_Right": 0.4441709879456098, "cube 1 lift distance": 0.00011887390871145875, "cube 2 lift distance": 0.00013026818345518443 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5697870402455127, "bimanual_gripper_vertical_difference": 0.060613769988384164, "task_success": 0.0 }, { "completion_time": 1.1485130786895752, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.12335597764313713, "block_0-gripper_Right": 0.5717915984843409, "block_1-gripper_Left": 0.20955341585014578, "block_1-gripper_Right": 0.444640848519755, "cube 1 lift distance": 0.000118878203507089, "cube 2 lift distance": 0.00013027487744343702 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5661874770037019, "bimanual_gripper_vertical_difference": 0.061797093641538035, "task_success": 0.0 }, { "completion_time": 1.171020746231079, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.12426501341119, "block_0-gripper_Right": 0.5724655813471917, "block_1-gripper_Left": 0.2082423977539548, "block_1-gripper_Right": 0.44532682533514595, "cube 1 lift distance": 0.00011888249920688487, "cube 2 lift distance": 0.00013028157284167285 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5421217124020548, "bimanual_gripper_vertical_difference": 0.0629036143593525, "task_success": 0.0 }, { "completion_time": 1.1929864883422852, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.12258038165818559, "block_0-gripper_Right": 0.572928410100482, "block_1-gripper_Left": 0.20472947340583758, "block_1-gripper_Right": 0.44583844861115757, "cube 1 lift distance": 0.0001188867958109574, "cube 2 lift distance": 0.000130288269650225 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5215293728072756, "bimanual_gripper_vertical_difference": 0.06398986035453486, "task_success": 0.0 }, { "completion_time": 1.2151293754577637, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.11940654235616541, "block_0-gripper_Right": 0.5728758900294424, "block_1-gripper_Left": 0.20052322957303717, "block_1-gripper_Right": 0.4458673388640405, "cube 1 lift distance": 0.00011889109331963965, "cube 2 lift distance": 0.00013029496786964856 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.518679424502361, "bimanual_gripper_vertical_difference": 0.06509398977772263, "task_success": 0.0 }, { "completion_time": 1.2375011444091797, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.11551045628401152, "block_0-gripper_Right": 0.5725255903239821, "block_1-gripper_Left": 0.19650648268920856, "block_1-gripper_Right": 0.4455942656482406, "cube 1 lift distance": 0.00011889539173315367, "cube 2 lift distance": 0.00013030166749983252 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5316454729385356, "bimanual_gripper_vertical_difference": 0.06623269599450105, "task_success": 0.0 }, { "completion_time": 1.260765552520752, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.11163758827151418, "block_0-gripper_Right": 0.5721700921347915, "block_1-gripper_Left": 0.1929450761805274, "block_1-gripper_Right": 0.44528695900781784, "cube 1 lift distance": 0.00011889969105149945, "cube 2 lift distance": 0.000130308368541443 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5508244173315024, "bimanual_gripper_vertical_difference": 0.06739709642956047, "task_success": 0.0 }, { "completion_time": 1.283597707748413, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.10872329457876784, "block_0-gripper_Right": 0.5717183253932524, "block_1-gripper_Left": 0.19030746612663374, "block_1-gripper_Right": 0.44486741731400037, "cube 1 lift distance": 0.00011890399127489903, "cube 2 lift distance": 0.00013031507099459105 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5674241899980037, "bimanual_gripper_vertical_difference": 0.06856401785894264, "task_success": 0.0 }, { "completion_time": 1.306063175201416, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.10695395152622696, "block_0-gripper_Right": 0.5710464276961265, "block_1-gripper_Left": 0.18881659407225235, "block_1-gripper_Right": 0.44422022363527724, "cube 1 lift distance": 0.0001189082924036855, "cube 2 lift distance": 0.0001303217748594987 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.582051098764474, "bimanual_gripper_vertical_difference": 0.06970878735576186, "task_success": 0.0 }, { "completion_time": 1.329529047012329, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.10609434045318056, "block_0-gripper_Right": 0.5704650145853235, "block_1-gripper_Left": 0.18838886645518313, "block_1-gripper_Right": 0.4436332017828447, "cube 1 lift distance": 0.00011891259443796987, "cube 2 lift distance": 0.00013032848013672105 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5954275107239675, "bimanual_gripper_vertical_difference": 0.07081012332568201, "task_success": 0.0 }, { "completion_time": 1.3518035411834717, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.10716566249334634, "block_0-gripper_Right": 0.5783805135322238, "block_1-gripper_Left": 0.18918385709085161, "block_1-gripper_Right": 0.4434983554384062, "cube 1 lift distance": 0.0005715795414138469, "cube 2 lift distance": 0.00013033518683103207 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6090787061784702, "bimanual_gripper_vertical_difference": 0.07185359508616496, "task_stage_reached": { "1": true }, "task_success": 0.0 }, { "completion_time": 1.374891757965088, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.1073260926251456, "block_0-gripper_Right": 0.5818415354499685, "block_1-gripper_Left": 0.1900732025318155, "block_1-gripper_Right": 0.44377813201221317, "cube 1 lift distance": 0.0014033667307238318, "cube 2 lift distance": 0.00013034189494498527 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6208198102056428, "bimanual_gripper_vertical_difference": 0.0728399165316132, "task_stage_reached": { "1": true }, "task_success": 0.0 }, { "completion_time": 1.3985865116119385, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.10721348378531294, "block_0-gripper_Right": 0.5833705294345165, "block_1-gripper_Left": 0.19025785097446277, "block_1-gripper_Right": 0.44418168173909073, "cube 1 lift distance": 0.0024078120031313377, "cube 2 lift distance": 0.0001303486044733626 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6321159502600284, "bimanual_gripper_vertical_difference": 0.07377157284979509, "task_stage_reached": { "1": true }, "task_success": 0.0 }, { "completion_time": 1.4216322898864746, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.10716792206568232, "block_0-gripper_Right": 0.5841783898733237, "block_1-gripper_Left": 0.19051541429546365, "block_1-gripper_Right": 0.4446333386579704, "cube 1 lift distance": 0.004222201687750671, "cube 2 lift distance": 0.00013035531541516487 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6432166698367798, "bimanual_gripper_vertical_difference": 0.07464208231310993, "task_stage_reached": { "1": true }, "task_success": 0.0 }, { "completion_time": 1.4485604763031006, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.10708103394540139, "block_0-gripper_Right": 0.5828894473102421, "block_1-gripper_Left": 0.19108443604990183, "block_1-gripper_Right": 0.4452455134962223, "cube 1 lift distance": 0.007586577903821001, "cube 2 lift distance": 0.00013036202777072514 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6539478391885023, "bimanual_gripper_vertical_difference": 0.07543467519877144, "task_stage_reached": { "1": true }, "task_success": 0.0 }, { "completion_time": 1.4740514755249023, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.10697895570046588, "block_0-gripper_Right": 0.5795530185619214, "block_1-gripper_Left": 0.19236968669762664, "block_1-gripper_Right": 0.4459450002037826, "cube 1 lift distance": 0.013116714625029169, "cube 2 lift distance": 0.00013036874154015443 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.664887631315571, "bimanual_gripper_vertical_difference": 0.07612370004084017, "task_stage_reached": { "1": true }, "task_success": 0.0 }, { "completion_time": 1.4986135959625244, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.1067995239681672, "block_0-gripper_Right": 0.5722259544627087, "block_1-gripper_Left": 0.19453739851160012, "block_1-gripper_Right": 0.446507846725017, "cube 1 lift distance": 0.02099941132922467, "cube 2 lift distance": 0.0001303754567237858 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6634171230020462, "bimanual_gripper_vertical_difference": 0.07668751964763833, "task_stage_reached": { "1": true }, "task_success": 0.0 }, { "completion_time": 1.523869276046753, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.10662390603885841, "block_0-gripper_Right": 0.5596418184867538, "block_1-gripper_Left": 0.19722504902414423, "block_1-gripper_Right": 0.4466625845277808, "cube 1 lift distance": 0.03072533141033751, "cube 2 lift distance": 0.00013038217332195234 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6610904005766196, "bimanual_gripper_vertical_difference": 0.07711934089885256, "task_stage_reached": { "1": true }, "task_success": 0.0 }, { "completion_time": 1.5522704124450684, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.10647992018556975, "block_0-gripper_Right": 0.5423703454783615, "block_1-gripper_Left": 0.20041983654185996, "block_1-gripper_Right": 0.4462135873128663, "cube 1 lift distance": 0.041018464640049324, "cube 2 lift distance": 0.0001303888913349871 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6656026197144729, "bimanual_gripper_vertical_difference": 0.07742968171014011, "task_stage_reached": { "1": true }, "task_success": 0.0 }, { "completion_time": 1.5759642124176025, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.10637022028330244, "block_0-gripper_Right": 0.5216434308061653, "block_1-gripper_Left": 0.20436694658041954, "block_1-gripper_Right": 0.44547394802796647, "cube 1 lift distance": 0.05131206056096671, "cube 2 lift distance": 0.00013039561076311212 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6786064833073167, "bimanual_gripper_vertical_difference": 0.07763387277653748, "task_stage_reached": { "1": true }, "task_success": 0.0 }, { "completion_time": 1.5999815464019775, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.10627362432810769, "block_0-gripper_Right": 0.498275467161111, "block_1-gripper_Left": 0.21109285893351282, "block_1-gripper_Right": 0.44504460286622444, "cube 1 lift distance": 0.06344068556461346, "cube 2 lift distance": 0.00013040233160688253 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6992867062533814, "bimanual_gripper_vertical_difference": 0.0777096860180016, "task_stage_reached": { "1": true }, "task_success": 0.0 }, { "completion_time": 1.6222052574157715, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.10664530537310858, "block_0-gripper_Right": 0.47686551472608857, "block_1-gripper_Left": 0.21601823336165862, "block_1-gripper_Right": 0.44495547787865125, "cube 1 lift distance": 0.07362377435986245, "cube 2 lift distance": 0.0001304090538662983 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.7129032190214764, "bimanual_gripper_vertical_difference": 0.07767935492745016, "task_stage_reached": { "1": true }, "task_success": 0.0 }, { "completion_time": 1.6444122791290283, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.1070091427373972, "block_0-gripper_Right": 0.46044317023194015, "block_1-gripper_Left": 0.21573380186294142, "block_1-gripper_Right": 0.44472297551723805, "cube 1 lift distance": 0.07820251770833342, "cube 2 lift distance": 0.00013041577754169253 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.7216516394330128, "bimanual_gripper_vertical_difference": 0.0776175274845291, "task_stage_reached": { "1": true }, "task_success": 0.0 }, { "completion_time": 1.6670334339141846, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.10706143697077707, "block_0-gripper_Right": 0.44594897217780194, "block_1-gripper_Left": 0.21514133418390374, "block_1-gripper_Right": 0.44394839511513895, "cube 1 lift distance": 0.08148128041220604, "cube 2 lift distance": 0.00013042250263339827 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.7299252230348665, "bimanual_gripper_vertical_difference": 0.07753225517720683, "task_stage_reached": { "1": true }, "task_success": 0.0 }, { "completion_time": 1.6892285346984863, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.10700019019019251, "block_0-gripper_Right": 0.4323733847528318, "block_1-gripper_Left": 0.21560771611045776, "block_1-gripper_Right": 0.4428199359597792, "cube 1 lift distance": 0.08414043043593056, "cube 2 lift distance": 0.0001304292291417486 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.7383744574543158, "bimanual_gripper_vertical_difference": 0.07742358906589386, "task_stage_reached": { "1": true }, "task_success": 0.0 }, { "completion_time": 1.7118425369262695, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.10707333596235655, "block_0-gripper_Right": 0.42208954209672733, "block_1-gripper_Left": 0.21609864221803804, "block_1-gripper_Right": 0.44178202998658844, "cube 1 lift distance": 0.08541386997363998, "cube 2 lift distance": 0.00013043595706696554 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.7444745087125129, "bimanual_gripper_vertical_difference": 0.07730648517782458, "task_stage_reached": { "1": true }, "task_success": 0.0 }, { "completion_time": 1.7335546016693115, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.10732719058524556, "block_0-gripper_Right": 0.41921495864847197, "block_1-gripper_Left": 0.21507277492607974, "block_1-gripper_Right": 0.4409790398117844, "cube 1 lift distance": 0.08455806274844568, "cube 2 lift distance": 0.0001304426864094932 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.7495680480950062, "bimanual_gripper_vertical_difference": 0.07719916607141963, "task_stage_reached": { "1": true }, "task_success": 0.0 }, { "completion_time": 1.7554147243499756, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.10733621616482295, "block_0-gripper_Right": 0.4176400138152137, "block_1-gripper_Left": 0.21296733130832016, "block_1-gripper_Right": 0.4400497340788098, "cube 1 lift distance": 0.08207990840705648, "cube 2 lift distance": 0.00013044941716944258 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.7561309561480252, "bimanual_gripper_vertical_difference": 0.07710658219015969, "task_stage_reached": { "1": true }, "task_success": 0.0 }, { "completion_time": 1.778245210647583, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.10732417024823164, "block_0-gripper_Right": 0.41608185211409265, "block_1-gripper_Left": 0.21086684622861093, "block_1-gripper_Right": 0.43934039955354864, "cube 1 lift distance": 0.07965546030851112, "cube 2 lift distance": 0.00013045614934736882 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.7627551225665021, "bimanual_gripper_vertical_difference": 0.0770308340430693, "task_stage_reached": { "1": true }, "task_success": 0.0 }, { "completion_time": 1.8005423545837402, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.1073126369222447, "block_0-gripper_Right": 0.41432333152887174, "block_1-gripper_Left": 0.2094996643366878, "block_1-gripper_Right": 0.4388811342278587, "cube 1 lift distance": 0.07804008592053813, "cube 2 lift distance": 0.00013046288294338293 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.7693693719716066, "bimanual_gripper_vertical_difference": 0.07696633012295467, "task_stage_reached": { "1": true }, "task_success": 0.0 }, { "completion_time": 1.8246757984161377, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.10730596809893769, "block_0-gripper_Right": 0.41244850770125485, "block_1-gripper_Left": 0.20863398386973717, "block_1-gripper_Right": 0.4385847252080483, "cube 1 lift distance": 0.07697227570236742, "cube 2 lift distance": 0.00013046961795781797 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.7759200628599237, "bimanual_gripper_vertical_difference": 0.07690911777034669, "task_stage_reached": { "1": true }, "task_success": 0.0 }, { "completion_time": 1.847367286682129, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.10734495687305264, "block_0-gripper_Right": 0.4104313135362051, "block_1-gripper_Left": 0.20576557752981267, "block_1-gripper_Right": 0.4377463182559297, "cube 1 lift distance": 0.07387976989357936, "cube 2 lift distance": 0.00013047635439100702 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.7816697987226588, "bimanual_gripper_vertical_difference": 0.07686946062120617, "task_stage_reached": { "1": true }, "task_success": 0.0 }, { "completion_time": 1.869891881942749, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.10733509545151676, "block_0-gripper_Right": 0.40746022685853667, "block_1-gripper_Left": 0.2014014969120908, "block_1-gripper_Right": 0.43702344361576245, "cube 1 lift distance": 0.07001165778210816, "cube 2 lift distance": 0.00013048309224317212 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.7737107704252475, "bimanual_gripper_vertical_difference": 0.07685869798879977, "task_stage_reached": { "1": true }, "task_success": 0.0 }, { "completion_time": 1.8933627605438232, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.1073365392182322, "block_0-gripper_Right": 0.40409469512249685, "block_1-gripper_Left": 0.1962825905959157, "block_1-gripper_Right": 0.43648052450461305, "cube 1 lift distance": 0.06598896751901151, "cube 2 lift distance": 0.00013048983151475735 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.754768899954362, "bimanual_gripper_vertical_difference": 0.07688545986513656, "task_stage_reached": { "1": true }, "task_success": 0.0 }, { "completion_time": 1.9199721813201904, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.10735954413573763, "block_0-gripper_Right": 0.40165460373026746, "block_1-gripper_Left": 0.19087270275984164, "block_1-gripper_Right": 0.43589295683468565, "cube 1 lift distance": 0.0619102919118677, "cube 2 lift distance": 0.00013049657220576272 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.7417810244612109, "bimanual_gripper_vertical_difference": 0.07695305142882904, "task_stage_reached": { "1": true }, "task_success": 0.0 }, { "completion_time": 1.9428980350494385, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.10736358538464295, "block_0-gripper_Right": 0.4002941624715882, "block_1-gripper_Left": 0.18582902429026227, "block_1-gripper_Right": 0.43523699380442754, "cube 1 lift distance": 0.05824553309441827, "cube 2 lift distance": 0.0001305033143170764 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.7392758373026074, "bimanual_gripper_vertical_difference": 0.07705581072435796, "task_stage_reached": { "1": true }, "task_success": 0.0 }, { "completion_time": 1.9656846523284912, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.10735767654447238, "block_0-gripper_Right": 0.40006281815362127, "block_1-gripper_Left": 0.18096142423409253, "block_1-gripper_Right": 0.43471720820607834, "cube 1 lift distance": 0.05456230111129945, "cube 2 lift distance": 0.00013051005784836534 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.746304117964244, "bimanual_gripper_vertical_difference": 0.07719492433593132, "task_stage_reached": { "1": true }, "task_success": 0.0 }, { "completion_time": 1.9889485836029053, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.10736568509277113, "block_0-gripper_Right": 0.40114962841621754, "block_1-gripper_Left": 0.17578576293217618, "block_1-gripper_Right": 0.43454508194308245, "cube 1 lift distance": 0.05027027825699526, "cube 2 lift distance": 0.00013051680280018463 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.7538100031598423, "bimanual_gripper_vertical_difference": 0.0773803389740132, "task_stage_reached": { "1": true }, "task_success": 0.0 }, { "completion_time": 2.013066291809082, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.10734624010301788, "block_0-gripper_Right": 0.4027921617669905, "block_1-gripper_Left": 0.1706916192090889, "block_1-gripper_Right": 0.43454405932681767, "cube 1 lift distance": 0.04552701243690582, "cube 2 lift distance": 0.00013052354917286735 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.7605794856285972, "bimanual_gripper_vertical_difference": 0.07761768256969559, "task_stage_reached": { "1": true }, "task_success": 0.0 }, { "completion_time": 2.037860870361328, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.10733161814573751, "block_0-gripper_Right": 0.40468155429461866, "block_1-gripper_Left": 0.16574129677859603, "block_1-gripper_Right": 0.4343736330489642, "cube 1 lift distance": 0.04043429582626268, "cube 2 lift distance": 0.00013053029696674656 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.7669429493898388, "bimanual_gripper_vertical_difference": 0.07790793959496338, "task_stage_reached": { "1": true }, "task_success": 0.0 }, { "completion_time": 2.0628674030303955, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.10735404659314961, "block_0-gripper_Right": 0.40714963053518877, "block_1-gripper_Left": 0.1607991003041539, "block_1-gripper_Right": 0.43397853099308825, "cube 1 lift distance": 0.0353480377075579, "cube 2 lift distance": 0.00013053704618204431 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.7729933648673166, "bimanual_gripper_vertical_difference": 0.07824682913686584, "task_stage_reached": { "1": true }, "task_success": 0.0 }, { "completion_time": 2.0872790813446045, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.10737858806363412, "block_0-gripper_Right": 0.4103749036487857, "block_1-gripper_Left": 0.15630095746434125, "block_1-gripper_Right": 0.43338568730999155, "cube 1 lift distance": 0.030844066091970435, "cube 2 lift distance": 0.0001305437968192047 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.7787458347573404, "bimanual_gripper_vertical_difference": 0.07862531162549921, "task_stage_reached": { "1": true }, "task_success": 0.0 }, { "completion_time": 2.1100707054138184, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.10737999160367705, "block_0-gripper_Right": 0.41366091124943155, "block_1-gripper_Left": 0.15282210209787955, "block_1-gripper_Right": 0.4326293080086603, "cube 1 lift distance": 0.027515357295338827, "cube 2 lift distance": 0.00013055054887811668 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.7841591847941776, "bimanual_gripper_vertical_difference": 0.07903090380688609, "task_stage_reached": { "1": true }, "task_success": 0.0 }, { "completion_time": 2.132272958755493, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.10738286188807623, "block_0-gripper_Right": 0.4159608190632637, "block_1-gripper_Left": 0.15037229366864857, "block_1-gripper_Right": 0.4318746116046624, "cube 1 lift distance": 0.02541021800055565, "cube 2 lift distance": 0.00013055730235966845 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.7774636759471947, "bimanual_gripper_vertical_difference": 0.07945193102177747, "task_stage_reached": { "1": true }, "task_success": 0.0 }, { "completion_time": 2.1551265716552734, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.10734799125014648, "block_0-gripper_Right": 0.41709732235725955, "block_1-gripper_Left": 0.14966855413871694, "block_1-gripper_Right": 0.43122985729863117, "cube 1 lift distance": 0.02494409883951898, "cube 2 lift distance": 0.00013056405726363796 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.7602634627427869, "bimanual_gripper_vertical_difference": 0.07987095713569756, "task_stage_reached": { "1": true }, "task_success": 0.0 }, { "completion_time": 2.179286479949951, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.10726095966963117, "block_0-gripper_Right": 0.4163393888739823, "block_1-gripper_Left": 0.15211113991186107, "block_1-gripper_Right": 0.4303904134781494, "cube 1 lift distance": 0.027223246069709273, "cube 2 lift distance": 0.00013057081359058031 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.7487484062023517, "bimanual_gripper_vertical_difference": 0.0802563459035687, "task_stage_reached": { "1": true }, "task_success": 0.0 }, { "completion_time": 2.2033309936523438, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.10717597025550779, "block_0-gripper_Right": 0.41325600186376726, "block_1-gripper_Left": 0.15756847424640386, "block_1-gripper_Right": 0.4293962888195112, "cube 1 lift distance": 0.03221612886026892, "cube 2 lift distance": 0.00013057757134071757 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.7469017101018227, "bimanual_gripper_vertical_difference": 0.08057937609742298, "task_stage_reached": { "1": true }, "task_success": 0.0 }, { "completion_time": 2.226980209350586, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.1071840030602559, "block_0-gripper_Right": 0.40831676520503773, "block_1-gripper_Left": 0.1642084453273024, "block_1-gripper_Right": 0.4286670141773364, "cube 1 lift distance": 0.03907815748698851, "cube 2 lift distance": 0.0001305843305144938 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.7531575294977437, "bimanual_gripper_vertical_difference": 0.08082331712664065, "task_stage_reached": { "1": true }, "task_success": 0.0 }, { "completion_time": 2.249762535095215, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.10721648109868848, "block_0-gripper_Right": 0.4027522372022489, "block_1-gripper_Left": 0.17036449947847715, "block_1-gripper_Right": 0.42842887415746583, "cube 1 lift distance": 0.04619442219650938, "cube 2 lift distance": 0.00013059109111202005 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.7597522961093528, "bimanual_gripper_vertical_difference": 0.0809872944600913, "task_stage_reached": { "1": true }, "task_success": 0.0 }, { "completion_time": 2.272751808166504, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.10726955823586416, "block_0-gripper_Right": 0.397497459882989, "block_1-gripper_Left": 0.1751974617941924, "block_1-gripper_Right": 0.42851828900308264, "cube 1 lift distance": 0.0525290320994376, "cube 2 lift distance": 0.00013059785313362937 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.7657510604547653, "bimanual_gripper_vertical_difference": 0.0810804478815772, "task_stage_reached": { "1": true }, "task_success": 0.0 }, { "completion_time": 2.295625686645508, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.10734993266087321, "block_0-gripper_Right": 0.39289027117431363, "block_1-gripper_Left": 0.1780957465468139, "block_1-gripper_Right": 0.42872487363301615, "cube 1 lift distance": 0.05742882120952597, "cube 2 lift distance": 0.00013060461657987688 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.7712532841808497, "bimanual_gripper_vertical_difference": 0.08111889771457705, "task_stage_reached": { "1": true }, "task_success": 0.0 }, { "completion_time": 2.318479061126709, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.10742307754780872, "block_0-gripper_Right": 0.3897063936224976, "block_1-gripper_Left": 0.178938276720104, "block_1-gripper_Right": 0.4290019281448429, "cube 1 lift distance": 0.060721461509776864, "cube 2 lift distance": 0.00013061138145065154 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.7658632629090618, "bimanual_gripper_vertical_difference": 0.08112122534951015, "task_stage_reached": { "1": true }, "task_success": 0.0 }, { "completion_time": 2.341822385787964, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.1074583268207351, "block_0-gripper_Right": 0.3880060935569143, "block_1-gripper_Left": 0.1787066118862665, "block_1-gripper_Right": 0.429273141290631, "cube 1 lift distance": 0.06306990450935324, "cube 2 lift distance": 0.00013061814774650848 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.7523701788327137, "bimanual_gripper_vertical_difference": 0.0810981959747205, "task_stage_reached": { "1": true }, "task_success": 0.0 }, { "completion_time": 2.3652796745300293, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.10744649257556807, "block_0-gripper_Right": 0.387151854679085, "block_1-gripper_Left": 0.17842968819360447, "block_1-gripper_Right": 0.42932961078791054, "cube 1 lift distance": 0.065127830744937, "cube 2 lift distance": 0.00013062491546778077 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.7421106110868338, "bimanual_gripper_vertical_difference": 0.08105314494235458, "task_stage_reached": { "1": true }, "task_success": 0.0 }, { "completion_time": 2.3913605213165283, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.10742353326031913, "block_0-gripper_Right": 0.3872043828793147, "block_1-gripper_Left": 0.17823843936609599, "block_1-gripper_Right": 0.4292554948828143, "cube 1 lift distance": 0.06684583818494971, "cube 2 lift distance": 0.00013063168461469044 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.7398655374618628, "bimanual_gripper_vertical_difference": 0.08099078986589751, "task_stage_reached": { "1": true }, "task_success": 0.0 }, { "completion_time": 2.4160120487213135, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.1074084528656949, "block_0-gripper_Right": 0.38849410887068364, "block_1-gripper_Left": 0.1778598196569105, "block_1-gripper_Right": 0.4293259208517859, "cube 1 lift distance": 0.0679811333582323, "cube 2 lift distance": 0.00013063845518745953 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.745234312146116, "bimanual_gripper_vertical_difference": 0.08091884798800866, "task_stage_reached": { "1": true }, "task_success": 0.0 }, { "completion_time": 2.4412810802459717, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.10740648253641323, "block_0-gripper_Right": 0.3909764441656508, "block_1-gripper_Left": 0.1770783934983941, "block_1-gripper_Right": 0.42976916228196393, "cube 1 lift distance": 0.06839411145482299, "cube 2 lift distance": 0.00013064522718653215 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.7513433646748762, "bimanual_gripper_vertical_difference": 0.08084637234589385, "task_stage_reached": { "1": true }, "task_success": 0.0 }, { "completion_time": 2.4650354385375977, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.1074280309085423, "block_0-gripper_Right": 0.3936512952279188, "block_1-gripper_Left": 0.17562246881376406, "block_1-gripper_Right": 0.43044004918865525, "cube 1 lift distance": 0.0678781089255911, "cube 2 lift distance": 0.00013065200061213034 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.746893920957219, "bimanual_gripper_vertical_difference": 0.08078329882428224, "task_stage_reached": { "1": true }, "task_success": 0.0 }, { "completion_time": 2.4885270595550537, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.1074424209520747, "block_0-gripper_Right": 0.39599532608094684, "block_1-gripper_Left": 0.17362825097412127, "block_1-gripper_Right": 0.43108259308982355, "cube 1 lift distance": 0.06667399535419305, "cube 2 lift distance": 0.00013065877546447613 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.7339813832113848, "bimanual_gripper_vertical_difference": 0.08073670280873713, "task_stage_reached": { "1": true }, "task_success": 0.0 }, { "completion_time": 2.5115389823913574, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.10743240935251869, "block_0-gripper_Right": 0.39727028467484266, "block_1-gripper_Left": 0.17156022844142926, "block_1-gripper_Right": 0.4313584013327182, "cube 1 lift distance": 0.06525673928840536, "cube 2 lift distance": 0.00013066555174401362 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.7234639555610665, "bimanual_gripper_vertical_difference": 0.08070766964474599, "task_stage_reached": { "1": true }, "task_success": 0.0 }, { "completion_time": 2.5343198776245117, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.10741600055305002, "block_0-gripper_Right": 0.3971125040524622, "block_1-gripper_Left": 0.16967211502950655, "block_1-gripper_Right": 0.4311194071112711, "cube 1 lift distance": 0.0638863183643863, "cube 2 lift distance": 0.0001306723294511869 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.7208345898947375, "bimanual_gripper_vertical_difference": 0.0806937161241116, "task_stage_reached": { "1": true }, "task_success": 0.0 }, { "completion_time": 2.5575788021087646, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.10741010492313625, "block_0-gripper_Right": 0.3967060829143338, "block_1-gripper_Left": 0.16794841343904826, "block_1-gripper_Right": 0.4305566919993431, "cube 1 lift distance": 0.06271816080201531, "cube 2 lift distance": 0.00013067910858588494 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.7094621360539406, "bimanual_gripper_vertical_difference": 0.08069066999810007, "task_stage_reached": { "1": true }, "task_success": 0.0 }, { "completion_time": 2.5804812908172607, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.10743387119359395, "block_0-gripper_Right": 0.39698549731768573, "block_1-gripper_Left": 0.16631632413263236, "block_1-gripper_Right": 0.42987864344872584, "cube 1 lift distance": 0.06174290796133053, "cube 2 lift distance": 0.00013068588914866286 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6965109761863593, "bimanual_gripper_vertical_difference": 0.08069494368010358, "task_stage_reached": { "1": true }, "task_success": 0.0 }, { "completion_time": 2.604416847229004, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.1074567826098686, "block_0-gripper_Right": 0.3976595910776906, "block_1-gripper_Left": 0.16486091623502755, "block_1-gripper_Right": 0.42924071685946724, "cube 1 lift distance": 0.06094982409689753, "cube 2 lift distance": 0.00013069267113996474 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6846815469161829, "bimanual_gripper_vertical_difference": 0.08070427899938416, "task_stage_reached": { "1": true }, "task_success": 0.0 }, { "completion_time": 2.631200075149536, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.10746783314474662, "block_0-gripper_Right": 0.39909253617501983, "block_1-gripper_Left": 0.16321463471119343, "block_1-gripper_Right": 0.4287238220389844, "cube 1 lift distance": 0.05985684889417109, "cube 2 lift distance": 0.00013069945455967957 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6734414751022488, "bimanual_gripper_vertical_difference": 0.08072133216571752, "task_stage_reached": { "1": true }, "task_success": 0.0 }, { "completion_time": 2.653815269470215, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.10747655624361419, "block_0-gripper_Right": 0.40177857877114675, "block_1-gripper_Left": 0.160937323777558, "block_1-gripper_Right": 0.42852538766328846, "cube 1 lift distance": 0.05801029647186473, "cube 2 lift distance": 0.00013070623940847348 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6628045015276016, "bimanual_gripper_vertical_difference": 0.0807538463289136, "task_stage_reached": { "1": true }, "task_success": 0.0 }, { "completion_time": 2.676426887512207, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.10746603138526147, "block_0-gripper_Right": 0.40523368051978736, "block_1-gripper_Left": 0.1584308153395135, "block_1-gripper_Right": 0.428661815413795, "cube 1 lift distance": 0.05584620774338522, "cube 2 lift distance": 0.00013071302568645748 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.652023720021349, "bimanual_gripper_vertical_difference": 0.08080590423515982, "task_stage_reached": { "1": true }, "task_success": 0.0 }, { "completion_time": 2.6988601684570312, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.10741224621323522, "block_0-gripper_Right": 0.40784351436039834, "block_1-gripper_Left": 0.15660799896037372, "block_1-gripper_Right": 0.4288416150394282, "cube 1 lift distance": 0.05427338026291628, "cube 2 lift distance": 0.00013071981339407568 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6401868674974478, "bimanual_gripper_vertical_difference": 0.08087218651297905, "task_stage_reached": { "1": true }, "task_success": 0.0 }, { "completion_time": 2.7221875190734863, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.10734917338574933, "block_0-gripper_Right": 0.4091246467377469, "block_1-gripper_Left": 0.15565302115648522, "block_1-gripper_Right": 0.4288122442434935, "cube 1 lift distance": 0.05343967439149133, "cube 2 lift distance": 0.0001307266025315501 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6274588888065318, "bimanual_gripper_vertical_difference": 0.08094539730221287, "task_stage_reached": { "1": true }, "task_success": 0.0 }, { "completion_time": 2.745170831680298, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.10730393527253115, "block_0-gripper_Right": 0.40954826218578727, "block_1-gripper_Left": 0.15537407945171663, "block_1-gripper_Right": 0.4287487433255834, "cube 1 lift distance": 0.05318094011568619, "cube 2 lift distance": 0.0001307333930989918 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.6139915642418854, "bimanual_gripper_vertical_difference": 0.08102082108944847, "task_stage_reached": { "1": true }, "task_success": 0.0 }, { "completion_time": 2.7696533203125, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.10728900867239266, "block_0-gripper_Right": 0.4098338095207607, "block_1-gripper_Left": 0.1554528109084927, "block_1-gripper_Right": 0.42893239180940423, "cube 1 lift distance": 0.05323011158410096, "cube 2 lift distance": 0.00013074018509695584 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.600319081534873, "bimanual_gripper_vertical_difference": 0.08109710227373154, "task_stage_reached": { "1": true }, "task_success": 0.0 }, { "completion_time": 2.793454170227051, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.10727042172125444, "block_0-gripper_Right": 0.40999726676749854, "block_1-gripper_Left": 0.1559264373689962, "block_1-gripper_Right": 0.42928611758349333, "cube 1 lift distance": 0.05364420723440677, "cube 2 lift distance": 0.00013074697852555328 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.587121055883638, "bimanual_gripper_vertical_difference": 0.08117210704246479, "task_stage_reached": { "1": true }, "task_success": 0.0 }, { "completion_time": 2.8176965713500977, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.10724689340075487, "block_0-gripper_Right": 0.40974295455004583, "block_1-gripper_Left": 0.15684761919773788, "block_1-gripper_Right": 0.42957167942794294, "cube 1 lift distance": 0.0544608556109778, "cube 2 lift distance": 0.00013075377338533922 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5746806315739352, "bimanual_gripper_vertical_difference": 0.0812427258862681, "task_stage_reached": { "1": true }, "task_success": 0.0 }, { "completion_time": 2.842348098754883, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.10723962000219962, "block_0-gripper_Right": 0.40894279013153806, "block_1-gripper_Left": 0.1579822362966233, "block_1-gripper_Right": 0.4296907099323517, "cube 1 lift distance": 0.055476357182433045, "cube 2 lift distance": 0.0001307605696765357 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5626930202262035, "bimanual_gripper_vertical_difference": 0.08130704690714938, "task_stage_reached": { "1": true }, "task_success": 0.0 }, { "completion_time": 2.869075059890747, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.1072186542425403, "block_0-gripper_Right": 0.4077577864487773, "block_1-gripper_Left": 0.15910677413372337, "block_1-gripper_Right": 0.4298021989600602, "cube 1 lift distance": 0.05641233915284549, "cube 2 lift distance": 0.00013076736739925376 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.551307886134471, "bimanual_gripper_vertical_difference": 0.08136553714541067, "task_stage_reached": { "1": true }, "task_success": 0.0 }, { "completion_time": 2.8956546783447266, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.10718980029900912, "block_0-gripper_Right": 0.406592898030383, "block_1-gripper_Left": 0.16006837929444256, "block_1-gripper_Right": 0.42990731758327233, "cube 1 lift distance": 0.05701888479612327, "cube 2 lift distance": 0.00013077416655393748 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5407050569176726, "bimanual_gripper_vertical_difference": 0.08142001890792551, "task_stage_reached": { "1": true }, "task_success": 0.0 }, { "completion_time": 2.9190661907196045, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.1071853316648241, "block_0-gripper_Right": 0.40589687628857996, "block_1-gripper_Left": 0.1607550786881008, "block_1-gripper_Right": 0.43009855802783736, "cube 1 lift distance": 0.057203930278524995, "cube 2 lift distance": 0.00013078096714103093 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5303115667427467, "bimanual_gripper_vertical_difference": 0.0814737917483492, "task_stage_reached": { "1": true }, "task_success": 0.0 }, { "completion_time": 2.9418931007385254, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.10720830857819733, "block_0-gripper_Right": 0.40574739356787226, "block_1-gripper_Left": 0.16109144450099258, "block_1-gripper_Right": 0.43047673776110135, "cube 1 lift distance": 0.0570294494023158, "cube 2 lift distance": 0.00013078776916064516 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5195019715921643, "bimanual_gripper_vertical_difference": 0.08153059050379247, "task_stage_reached": { "1": true }, "task_success": 0.0 }, { "completion_time": 2.9645602703094482, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.1072384371099509, "block_0-gripper_Right": 0.4057642794271283, "block_1-gripper_Left": 0.16110278007373205, "block_1-gripper_Right": 0.43101962469602334, "cube 1 lift distance": 0.056681444304878426, "cube 2 lift distance": 0.00013079457261311322 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.5081312275416379, "bimanual_gripper_vertical_difference": 0.08159239678993209, "task_stage_reached": { "1": true }, "task_success": 0.0 }, { "completion_time": 2.9869420528411865, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.10725667032376812, "block_0-gripper_Right": 0.40553142720529095, "block_1-gripper_Left": 0.16097068420598537, "block_1-gripper_Right": 0.43147892096751783, "cube 1 lift distance": 0.05635069592640973, "cube 2 lift distance": 0.0001308013774987682 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4966127888939078, "bimanual_gripper_vertical_difference": 0.0816586584087369, "task_stage_reached": { "1": true }, "task_success": 0.0 }, { "completion_time": 3.011946201324463, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.10726557700290991, "block_0-gripper_Right": 0.40481981059104455, "block_1-gripper_Left": 0.16088913653199394, "block_1-gripper_Right": 0.43149440152133733, "cube 1 lift distance": 0.05615458586663857, "cube 2 lift distance": 0.00013080818381794312 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4852385538251958, "bimanual_gripper_vertical_difference": 0.08172651260424854, "task_stage_reached": { "1": true }, "task_success": 0.0 }, { "completion_time": 3.0348587036132812, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.10727159260415349, "block_0-gripper_Right": 0.40364406811634274, "block_1-gripper_Left": 0.16100366805968302, "block_1-gripper_Right": 0.4309769124890388, "cube 1 lift distance": 0.05620147031187006, "cube 2 lift distance": 0.00013081499157086007 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4740293993179847, "bimanual_gripper_vertical_difference": 0.08179175019239247, "task_stage_reached": { "1": true }, "task_success": 0.0 }, { "completion_time": 3.058035135269165, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.10730259462976775, "block_0-gripper_Right": 0.40278439179362985, "block_1-gripper_Left": 0.16103273389220477, "block_1-gripper_Right": 0.4303438327025438, "cube 1 lift distance": 0.056274757477516646, "cube 2 lift distance": 0.0001308218007578521 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4626233393119639, "bimanual_gripper_vertical_difference": 0.08185331074912047, "task_stage_reached": { "1": true }, "task_success": 0.0 }, { "completion_time": 3.081117868423462, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.10733281680940598, "block_0-gripper_Right": 0.4025872663517635, "block_1-gripper_Left": 0.16085518369624507, "block_1-gripper_Right": 0.42989673206377416, "cube 1 lift distance": 0.056262066375217135, "cube 2 lift distance": 0.0001308286113793633 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4518890290791056, "bimanual_gripper_vertical_difference": 0.08191209017455278, "task_stage_reached": { "1": true }, "task_success": 0.0 }, { "completion_time": 3.103996992111206, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.10733177939799633, "block_0-gripper_Right": 0.40265676692354374, "block_1-gripper_Left": 0.16050221518665583, "block_1-gripper_Right": 0.4296943139487488, "cube 1 lift distance": 0.05606403817187511, "cube 2 lift distance": 0.00013083542343539367 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4414546582807761, "bimanual_gripper_vertical_difference": 0.08197047943353021, "task_stage_reached": { "1": true }, "task_success": 0.0 }, { "completion_time": 3.130589485168457, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.10732564316154657, "block_0-gripper_Right": 0.4027724628372477, "block_1-gripper_Left": 0.15979503224933883, "block_1-gripper_Right": 0.42964069324958293, "cube 1 lift distance": 0.05544977031258558, "cube 2 lift distance": 0.00013084223692649832 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4310904881279036, "bimanual_gripper_vertical_difference": 0.08203200431848834, "task_stage_reached": { "1": true }, "task_success": 0.0 }, { "completion_time": 3.154841184616089, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.10733594962531987, "block_0-gripper_Right": 0.4032272731328937, "block_1-gripper_Left": 0.15867881016237292, "block_1-gripper_Right": 0.42965818883414614, "cube 1 lift distance": 0.05442365780350489, "cube 2 lift distance": 0.0001308490518528993 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4211567806403795, "bimanual_gripper_vertical_difference": 0.082099887569137, "task_stage_reached": { "1": true }, "task_success": 0.0 }, { "completion_time": 3.1796138286590576, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.11365608476064813, "block_0-gripper_Right": 0.40636586455408946, "block_1-gripper_Left": 0.15824253967454496, "block_1-gripper_Right": 0.4294046174868189, "cube 1 lift distance": 0.04827509429043242, "cube 2 lift distance": 0.00013085586820693607 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4110855617053495, "bimanual_gripper_vertical_difference": 0.08216770842687555, "task_stage_reached": { "1": true }, "task_success": 0.0 }, { "completion_time": 3.2035934925079346, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "target_distance": { "block_0-gripper_Left": 0.12227710540820273, "block_0-gripper_Right": 0.40978773469151264, "block_1-gripper_Left": 0.1581120205904298, "block_1-gripper_Right": 0.42882300776309146, "cube 1 lift distance": 0.0402936821154849, "cube 2 lift distance": 0.0004560016812155121 }, "success": 1.0, "bimanual_arm_velocity_difference": 1.4006401262128771, "bimanual_gripper_vertical_difference": 0.08223055285620956, "task_stage_reached": { "1": true, "3": true }, "task_success": 1.0 } ]