[ { "completion_time": 0.03945183753967285, "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": 0.3318366730338571, "block_0-gripper_Right": 0.4797118437368898, "block_1-gripper_Left": 0.3796295465774098, "block_1-gripper_Right": 0.37963992050587075, "cube 1 lift distance": 0.02185960000000009, "cube 2 lift distance": 0.02185960000000009 }, "success": 0.0, "bimanual_arm_velocity_difference": 9.662721000558427e-07, "bimanual_gripper_vertical_difference": 5.348295140095161e-10, "task_success": 0.0 }, { "completion_time": 0.06105613708496094, "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": 0.3460637145235679, "block_0-gripper_Right": 0.4896760251797612, "block_1-gripper_Left": 0.3916240932529145, "block_1-gripper_Right": 0.391652795832246, "cube 1 lift distance": 0.0012025261798247477, "cube 2 lift distance": 0.0011745888009713212 }, "success": 0.0, "bimanual_arm_velocity_difference": 4.946741142229649e-07, "bimanual_gripper_vertical_difference": 6.785736417214139e-10, "task_success": 0.0 }, { "completion_time": 0.08403277397155762, "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": 0.34651929187286745, "block_0-gripper_Right": 0.49000772204420184, "block_1-gripper_Left": 0.39141102450751336, "block_1-gripper_Right": 0.3914517333937682, "cube 1 lift distance": 0.0006937403668592079, "cube 2 lift distance": 0.0007109089779454569 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.127943260037049e-05, "bimanual_gripper_vertical_difference": 1.3898679984691853e-09, "task_success": 0.0 }, { "completion_time": 0.10726404190063477, "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": 0.34624131411628106, "block_0-gripper_Right": 0.4898167546269073, "block_1-gripper_Left": 0.39128785290566936, "block_1-gripper_Right": 0.3913355682045765, "cube 1 lift distance": 0.00011712019369503057, "cube 2 lift distance": 0.0001296916947653992 }, "success": 0.0, "bimanual_arm_velocity_difference": 8.492808887085486e-06, "bimanual_gripper_vertical_difference": 2.0137958522958854e-09, "task_success": 0.0 }, { "completion_time": 0.1300487518310547, "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": 0.3459537445903206, "block_0-gripper_Right": 0.4896167543084602, "block_1-gripper_Left": 0.39100792552987307, "block_1-gripper_Right": 0.39105972851156445, "cube 1 lift distance": 0.00011868362377209785, "cube 2 lift distance": 0.00013016362618401 }, "success": 0.0, "bimanual_arm_velocity_difference": 4.73901875226064e-05, "bimanual_gripper_vertical_difference": 2.251138653264206e-09, "task_success": 0.0 }, { "completion_time": 0.15291810035705566, "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": 0.3457687474309613, "block_0-gripper_Right": 0.48948806170918363, "block_1-gripper_Left": 0.39082794983532415, "block_1-gripper_Right": 0.3908822714583151, "cube 1 lift distance": 0.00011869852503720857, "cube 2 lift distance": 0.00013017339824195062 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.0001926207883134031, "bimanual_gripper_vertical_difference": 2.7428943560892094e-09, "task_success": 0.0 }, { "completion_time": 0.17713451385498047, "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": 0.3456491999880186, "block_0-gripper_Right": 0.4894047871177243, "block_1-gripper_Left": 0.3907120304149668, "block_1-gripper_Right": 0.39076786147234677, "cube 1 lift distance": 0.00011870285559301141, "cube 2 lift distance": 0.00013018001658626766 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.0009813409338970886, "bimanual_gripper_vertical_difference": 4.35960867406493e-09, "task_success": 0.0 }, { "completion_time": 0.201462984085083, "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": 0.3451808837727328, "block_0-gripper_Right": 0.488840637129259, "block_1-gripper_Left": 0.39029182737183704, "block_1-gripper_Right": 0.39009240360447806, "cube 1 lift distance": 0.00011870711487393937, "cube 2 lift distance": 0.00013018661478081395 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.009150729963408218, "bimanual_gripper_vertical_difference": 3.3480072990088594e-06, "task_success": 0.0 }, { "completion_time": 0.22601795196533203, "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": 0.34410877843233423, "block_0-gripper_Right": 0.4844885002373866, "block_1-gripper_Left": 0.38974899945380337, "block_1-gripper_Right": 0.3857441728880468, "cube 1 lift distance": 0.00011871137455876646, "cube 2 lift distance": 0.00013019321421825492 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.09344803549473409, "bimanual_gripper_vertical_difference": 6.52477096664149e-05, "task_success": 0.0 }, { "completion_time": 0.2501091957092285, "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": 0.342743177428461, "block_0-gripper_Right": 0.4763458523578419, "block_1-gripper_Left": 0.38945461141260146, "block_1-gripper_Right": 0.37825859984387117, "cube 1 lift distance": 0.000118715635136879, "cube 2 lift distance": 0.0001301998150446959 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.14499919535724154, "bimanual_gripper_vertical_difference": 9.09540201632808e-05, "task_success": 0.0 }, { "completion_time": 0.2734549045562744, "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": 0.3409575985612049, "block_0-gripper_Right": 0.4665390787103928, "block_1-gripper_Left": 0.3891146139104863, "block_1-gripper_Right": 0.3698446480759099, "cube 1 lift distance": 0.00011871989661205173, "cube 2 lift distance": 0.00013020641726158022 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.22032339888661473, "bimanual_gripper_vertical_difference": 0.00027840923622656324, "task_success": 0.0 }, { "completion_time": 0.2964162826538086, "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": 0.33866243611298136, "block_0-gripper_Right": 0.4569863176579398, "block_1-gripper_Left": 0.3883757961844269, "block_1-gripper_Right": 0.362190350526563, "cube 1 lift distance": 0.00011872415898417366, "cube 2 lift distance": 0.0001302130208691299 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.30120455867300283, "bimanual_gripper_vertical_difference": 0.0007809616774498799, "task_success": 0.0 }, { "completion_time": 0.3190419673919678, "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": 0.33625237379829975, "block_0-gripper_Right": 0.4491312284641945, "block_1-gripper_Left": 0.3872783173227332, "block_1-gripper_Right": 0.35644887014569737, "cube 1 lift distance": 0.00011872842225391089, "cube 2 lift distance": 0.00013021962586790004 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.38738659245656354, "bimanual_gripper_vertical_difference": 0.0015693607865037834, "task_success": 0.0 }, { "completion_time": 0.34052467346191406, "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": 0.3340834312539742, "block_0-gripper_Right": 0.44278830518342055, "block_1-gripper_Left": 0.3860668006162834, "block_1-gripper_Right": 0.3522022184616566, "cube 1 lift distance": 0.00011873268642093038, "cube 2 lift distance": 0.00013022623225777963 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.46947297964696083, "bimanual_gripper_vertical_difference": 0.002557539465755448, "task_success": 0.0 }, { "completion_time": 0.3620584011077881, "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": 0.33260025172906443, "block_0-gripper_Right": 0.43835103316033425, "block_1-gripper_Left": 0.3852191248628342, "block_1-gripper_Right": 0.3495714845529918, "cube 1 lift distance": 0.00011873695148578722, "cube 2 lift distance": 0.00013023284003932378 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.5522030053889363, "bimanual_gripper_vertical_difference": 0.003638836363350236, "task_success": 0.0 }, { "completion_time": 0.38378119468688965, "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": 0.3323943469192826, "block_0-gripper_Right": 0.43588466030205886, "block_1-gripper_Left": 0.3852833244151607, "block_1-gripper_Right": 0.34843664098720145, "cube 1 lift distance": 0.00011874121744848143, "cube 2 lift distance": 0.00013023944921264352 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6355204980940853, "bimanual_gripper_vertical_difference": 0.004692390325714335, "task_success": 0.0 }, { "completion_time": 0.40571045875549316, "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": 0.3312649819962032, "block_0-gripper_Right": 0.4348218405803662, "block_1-gripper_Left": 0.3842375346316287, "block_1-gripper_Right": 0.34717852536151794, "cube 1 lift distance": 0.00011874548430934606, "cube 2 lift distance": 0.00013024605977829395 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.726176285296539, "bimanual_gripper_vertical_difference": 0.0056484457420750865, "task_success": 0.0 }, { "completion_time": 0.4289696216583252, "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": 0.3302505432531326, "block_0-gripper_Right": 0.43403134420911677, "block_1-gripper_Left": 0.3832769463315619, "block_1-gripper_Right": 0.34604209698664234, "cube 1 lift distance": 0.00011874975206849214, "cube 2 lift distance": 0.00013025267173627508 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8089023827584013, "bimanual_gripper_vertical_difference": 0.006493523579407196, "task_success": 0.0 }, { "completion_time": 0.45200443267822266, "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": 0.3295919182004758, "block_0-gripper_Right": 0.4335260330277551, "block_1-gripper_Left": 0.3826549797318861, "block_1-gripper_Right": 0.3453079733879366, "cube 1 lift distance": 0.0001187540207260307, "cube 2 lift distance": 0.000130259285087031 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8843059564243699, "bimanual_gripper_vertical_difference": 0.007246561464951705, "task_success": 0.0 }, { "completion_time": 0.4747605323791504, "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": 0.3283734023025468, "block_0-gripper_Right": 0.4305809756915312, "block_1-gripper_Left": 0.38155166804400437, "block_1-gripper_Right": 0.34165547801434054, "cube 1 lift distance": 0.00011875829028218376, "cube 2 lift distance": 0.00013026589983100578 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9506575391548766, "bimanual_gripper_vertical_difference": 0.007822178049983164, "task_success": 0.0 }, { "completion_time": 0.5009145736694336, "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": 0.3269917608128058, "block_0-gripper_Right": 0.41692138671543194, "block_1-gripper_Left": 0.3805316834556133, "block_1-gripper_Right": 0.3271767415544329, "cube 1 lift distance": 0.0001187625607371734, "cube 2 lift distance": 0.00013027251596819944 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0074169777965754, "bimanual_gripper_vertical_difference": 0.007970088104114174, "task_success": 0.0 }, { "completion_time": 0.5271294116973877, "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": 0.3261893647872519, "block_0-gripper_Right": 0.39374505946869653, "block_1-gripper_Left": 0.380188119890698, "block_1-gripper_Right": 0.3039302898592834, "cube 1 lift distance": 0.00011876683209133265, "cube 2 lift distance": 0.0001302791334991671 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0546033349109825, "bimanual_gripper_vertical_difference": 0.0076332653528636725, "task_success": 0.0 }, { "completion_time": 0.550421953201294, "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": 0.32586885170857915, "block_0-gripper_Right": 0.3649429012189921, "block_1-gripper_Left": 0.3803029652351859, "block_1-gripper_Right": 0.2763111849846595, "cube 1 lift distance": 0.00011877110434477256, "cube 2 lift distance": 0.00013028575242390872 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.0914758589380356, "bimanual_gripper_vertical_difference": 0.007752253477828747, "task_success": 0.0 }, { "completion_time": 0.5737779140472412, "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": 0.3256783132145567, "block_0-gripper_Right": 0.33426629411994807, "block_1-gripper_Left": 0.380519581187096, "block_1-gripper_Right": 0.24803695982052873, "cube 1 lift distance": 0.00011877537749749312, "cube 2 lift distance": 0.00013029237274309047 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1241807006490498, "bimanual_gripper_vertical_difference": 0.008351135013175914, "task_success": 0.0 }, { "completion_time": 0.5959231853485107, "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": 0.3253420237258976, "block_0-gripper_Right": 0.3050716604370586, "block_1-gripper_Left": 0.38055671310987554, "block_1-gripper_Right": 0.2219583688316589, "cube 1 lift distance": 0.00011877965154982739, "cube 2 lift distance": 0.00013029899445660131 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.1639616564155166, "bimanual_gripper_vertical_difference": 0.009371691781562417, "task_success": 0.0 }, { "completion_time": 0.6183509826660156, "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": 0.32454501524121954, "block_0-gripper_Right": 0.2792685868829034, "block_1-gripper_Left": 0.3800623361328462, "block_1-gripper_Right": 0.20016370805941266, "cube 1 lift distance": 0.00011878392650210845, "cube 2 lift distance": 0.0001303056175651074 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.202181120286889, "bimanual_gripper_vertical_difference": 0.010685372987046304, "task_success": 0.0 }, { "completion_time": 0.6405913829803467, "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": 0.32331064798898207, "block_0-gripper_Right": 0.2569153964925569, "block_1-gripper_Left": 0.3790249033584549, "block_1-gripper_Right": 0.1832130576939024, "cube 1 lift distance": 0.00011878820235411425, "cube 2 lift distance": 0.0001303122420686087 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.240595779312318, "bimanual_gripper_vertical_difference": 0.012143870766958775, "task_success": 0.0 }, { "completion_time": 0.664654016494751, "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": 0.32201424110694965, "block_0-gripper_Right": 0.23844629041271745, "block_1-gripper_Left": 0.3779249979108747, "block_1-gripper_Right": 0.17126341071684703, "cube 1 lift distance": 0.00011879247910651092, "cube 2 lift distance": 0.00013031886796754932 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.277193292413677, "bimanual_gripper_vertical_difference": 0.01364336738441321, "task_success": 0.0 }, { "completion_time": 0.6893100738525391, "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": 0.3209208648746853, "block_0-gripper_Right": 0.2240435601577104, "block_1-gripper_Left": 0.3770652244656116, "block_1-gripper_Right": 0.16364771908184836, "cube 1 lift distance": 0.00011879675675918744, "cube 2 lift distance": 0.00013032549526237336 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2760852091412553, "bimanual_gripper_vertical_difference": 0.015123289999719378, "task_success": 0.0 }, { "completion_time": 0.7128145694732666, "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": 0.3198628970861738, "block_0-gripper_Right": 0.2137859420389466, "block_1-gripper_Left": 0.3762618860732768, "block_1-gripper_Right": 0.15907348027019488, "cube 1 lift distance": 0.00011880103531247688, "cube 2 lift distance": 0.0001303321239530808 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2505198397805117, "bimanual_gripper_vertical_difference": 0.01654981082997544, "task_success": 0.0 }, { "completion_time": 0.736452579498291, "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": 0.31871961922540437, "block_0-gripper_Right": 0.2067923608381941, "block_1-gripper_Left": 0.37534175766930944, "block_1-gripper_Right": 0.15562255465511896, "cube 1 lift distance": 0.00011880531476649026, "cube 2 lift distance": 0.0001303387540398937 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2338081790942197, "bimanual_gripper_vertical_difference": 0.017925710441673372, "task_success": 0.0 }, { "completion_time": 0.7604458332061768, "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": 0.3175729809651486, "block_0-gripper_Right": 0.20184952441562504, "block_1-gripper_Left": 0.3743867079876024, "block_1-gripper_Right": 0.15209655087887172, "cube 1 lift distance": 0.0001188095951213386, "cube 2 lift distance": 0.00013034538552314512 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2395327275689172, "bimanual_gripper_vertical_difference": 0.01926913157953048, "task_success": 0.0 }, { "completion_time": 0.7854738235473633, "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": 0.31670971451074936, "block_0-gripper_Right": 0.19869900979246416, "block_1-gripper_Left": 0.37374058444215763, "block_1-gripper_Right": 0.14844310284116088, "cube 1 lift distance": 0.00011881387637735497, "cube 2 lift distance": 0.0001303520184035012 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2673410180983025, "bimanual_gripper_vertical_difference": 0.020597320508275955, "task_success": 0.0 }, { "completion_time": 0.8104126453399658, "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": 0.31622500902852385, "block_0-gripper_Right": 0.19705345220420817, "block_1-gripper_Left": 0.373538268638008, "block_1-gripper_Right": 0.14454196349146528, "cube 1 lift distance": 0.00011881815853465039, "cube 2 lift distance": 0.0001303586526808509 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2928027112821603, "bimanual_gripper_vertical_difference": 0.0219285042350353, "task_success": 0.0 }, { "completion_time": 0.8357913494110107, "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": 0.31611819607834457, "block_0-gripper_Right": 0.19613558330521738, "block_1-gripper_Left": 0.37370743412016477, "block_1-gripper_Right": 0.1404174546599183, "cube 1 lift distance": 0.0001188224415934469, "cube 2 lift distance": 0.00013036528835574934 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3166576978077533, "bimanual_gripper_vertical_difference": 0.02327727689964378, "task_success": 0.0 }, { "completion_time": 0.8598031997680664, "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": 0.31646260137912063, "block_0-gripper_Right": 0.19531227123811432, "block_1-gripper_Left": 0.37426627798959156, "block_1-gripper_Right": 0.13641640907683109, "cube 1 lift distance": 0.00011882672555385554, "cube 2 lift distance": 0.00013037192542841858 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3410916662598866, "bimanual_gripper_vertical_difference": 0.02465295837892329, "task_success": 0.0 }, { "completion_time": 0.8850524425506592, "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": 0.31723670947530386, "block_0-gripper_Right": 0.19423367118473528, "block_1-gripper_Left": 0.37514661249506887, "block_1-gripper_Right": 0.1325993335848018, "cube 1 lift distance": 0.00011883101041609834, "cube 2 lift distance": 0.00013037856389919167 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3662993963720962, "bimanual_gripper_vertical_difference": 0.026062667416689212, "task_success": 0.0 }, { "completion_time": 0.9111108779907227, "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": 0.31825254974430606, "block_0-gripper_Right": 0.1927501464936351, "block_1-gripper_Left": 0.3761464940450117, "block_1-gripper_Right": 0.1287537066977913, "cube 1 lift distance": 0.00011883529618061939, "cube 2 lift distance": 0.00013038520376829066 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3895834864821082, "bimanual_gripper_vertical_difference": 0.027513661776147714, "task_success": 0.0 }, { "completion_time": 0.9362998008728027, "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": 0.31926232990471426, "block_0-gripper_Right": 0.19104516546569308, "block_1-gripper_Left": 0.37706997688353416, "block_1-gripper_Right": 0.12507374979193298, "cube 1 lift distance": 0.00011883958284719665, "cube 2 lift distance": 0.00013039184503604861 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.410905138924556, "bimanual_gripper_vertical_difference": 0.029002085924249108, "task_success": 0.0 }, { "completion_time": 0.9614269733428955, "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": 0.32008210462878306, "block_0-gripper_Right": 0.18990855801055093, "block_1-gripper_Left": 0.37780597964392354, "block_1-gripper_Right": 0.12214470113302885, "cube 1 lift distance": 0.00011884387041638522, "cube 2 lift distance": 0.0001303984877027986 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4312096891480037, "bimanual_gripper_vertical_difference": 0.030504147855983994, "task_success": 0.0 }, { "completion_time": 0.9885609149932861, "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": 0.32052511587798976, "block_0-gripper_Right": 0.18952691841578995, "block_1-gripper_Left": 0.3784763485217753, "block_1-gripper_Right": 0.12033176427776116, "cube 1 lift distance": 0.00011884815888840716, "cube 2 lift distance": 0.00022521727460567131 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4512792861519446, "bimanual_gripper_vertical_difference": 0.03198068297978131, "task_stage_reached": { "1": true }, "task_success": 0.0 }, { "completion_time": 1.0117950439453125, "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": 0.3206043628369904, "block_0-gripper_Right": 0.1879732067035168, "block_1-gripper_Left": 0.38022501282986404, "block_1-gripper_Right": 0.12064728632353387, "cube 1 lift distance": 0.00011885244827447572, "cube 2 lift distance": 0.0010900389997100524 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4459309995050715, "bimanual_gripper_vertical_difference": 0.0333515584500783, "task_stage_reached": { "1": true }, "task_success": 0.0 }, { "completion_time": 1.0356965065002441, "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": 0.32041554155521584, "block_0-gripper_Right": 0.18882004341896672, "block_1-gripper_Left": 0.3809701526002419, "block_1-gripper_Right": 0.12065495231563549, "cube 1 lift distance": 0.000118856738565154, "cube 2 lift distance": 0.0010443419323722392 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4137861941578065, "bimanual_gripper_vertical_difference": 0.03465266826228105, "task_stage_reached": { "1": true }, "task_success": 0.0 }, { "completion_time": 1.0596282482147217, "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": 0.3201268687931526, "block_0-gripper_Right": 0.18906109103935004, "block_1-gripper_Left": 0.3815803884801001, "block_1-gripper_Right": 0.12062336570647546, "cube 1 lift distance": 0.0001188610297589987, "cube 2 lift distance": 0.0008840253685760135 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3970030261166206, "bimanual_gripper_vertical_difference": 0.035890956654236465, "task_stage_reached": { "1": true }, "task_success": 0.0 }, { "completion_time": 1.0850334167480469, "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": 0.31983550972709135, "block_0-gripper_Right": 0.18890493909276018, "block_1-gripper_Left": 0.38170887981994367, "block_1-gripper_Right": 0.12048122392235948, "cube 1 lift distance": 0.00011886532185634291, "cube 2 lift distance": 0.00068209122774332 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3928123680569433, "bimanual_gripper_vertical_difference": 0.03707515672297971, "task_stage_reached": { "1": true }, "task_success": 0.0 }, { "completion_time": 1.1106407642364502, "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": 0.3195798017996393, "block_0-gripper_Right": 0.18889929887120066, "block_1-gripper_Left": 0.38229266958555425, "block_1-gripper_Right": 0.1203831353671635, "cube 1 lift distance": 0.00011886961485718661, "cube 2 lift distance": 0.00036086294534409813 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3966156986654976, "bimanual_gripper_vertical_difference": 0.038211515987123294, "task_stage_reached": { "1": true }, "task_success": 0.0 }, { "completion_time": 1.1364130973815918, "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": 0.3193875422038655, "block_0-gripper_Right": 0.1871186499178453, "block_1-gripper_Left": 0.3794589717761204, "block_1-gripper_Right": 0.12032727344326577, "cube 1 lift distance": 0.00011887390876175186, "cube 2 lift distance": 0.0006363667934050632 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4066980105541842, "bimanual_gripper_vertical_difference": 0.03928966604909415, "task_stage_reached": { "1": true }, "task_success": 0.0 }, { "completion_time": 1.1619939804077148, "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": 0.319386448938097, "block_0-gripper_Right": 0.1830783974451526, "block_1-gripper_Left": 0.3686191030397911, "block_1-gripper_Right": 0.12022779269976065, "cube 1 lift distance": 0.00011887820357048273, "cube 2 lift distance": 0.005881102261576898 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4227913446071871, "bimanual_gripper_vertical_difference": 0.04021445859926139, "task_stage_reached": { "1": true }, "task_success": 0.0 }, { "completion_time": 1.187058448791504, "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": 0.31987269921136946, "block_0-gripper_Right": 0.1787118039793027, "block_1-gripper_Left": 0.3510810219178218, "block_1-gripper_Right": 0.12021392310361093, "cube 1 lift distance": 0.0001188824992831572, "cube 2 lift distance": 0.016295161932754487 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4398972805766095, "bimanual_gripper_vertical_difference": 0.04089792427510127, "task_stage_reached": { "1": true }, "task_success": 0.0 }, { "completion_time": 1.212186336517334, "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": 0.32094510708746943, "block_0-gripper_Right": 0.17600837555238327, "block_1-gripper_Left": 0.3334019650126343, "block_1-gripper_Right": 0.12026341550591906, "cube 1 lift distance": 0.00011888679590044138, "cube 2 lift distance": 0.027821510623650014 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4415378562458034, "bimanual_gripper_vertical_difference": 0.04134009289266313, "task_stage_reached": { "1": true }, "task_success": 0.0 }, { "completion_time": 1.237818956375122, "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": 0.32247793245954226, "block_0-gripper_Right": 0.1745999190121906, "block_1-gripper_Left": 0.319914251089871, "block_1-gripper_Right": 0.12033901811148337, "cube 1 lift distance": 0.00011889109342211324, "cube 2 lift distance": 0.03687616872594712 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4263094826453349, "bimanual_gripper_vertical_difference": 0.04160846398572951, "task_stage_reached": { "1": true }, "task_success": 0.0 }, { "completion_time": 1.2624640464782715, "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": 0.3242099070877898, "block_0-gripper_Right": 0.173315249138692, "block_1-gripper_Left": 0.311940956839619, "block_1-gripper_Right": 0.1204342856955764, "cube 1 lift distance": 0.00011889539184861686, "cube 2 lift distance": 0.04233638723549049 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.410933795996033, "bimanual_gripper_vertical_difference": 0.04178716806425821, "task_stage_reached": { "1": true }, "task_success": 0.0 }, { "completion_time": 1.2870814800262451, "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": 0.3259219736954284, "block_0-gripper_Right": 0.1712214419253106, "block_1-gripper_Left": 0.30844222559240453, "block_1-gripper_Right": 0.12050457668807174, "cube 1 lift distance": 0.00011889969117995225, "cube 2 lift distance": 0.044346148114951855 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4087972155596515, "bimanual_gripper_vertical_difference": 0.04195084243023067, "task_stage_reached": { "1": true }, "task_success": 0.0 }, { "completion_time": 1.3124322891235352, "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": 0.3272363982859637, "block_0-gripper_Right": 0.16833213060867644, "block_1-gripper_Left": 0.3070620789746699, "block_1-gripper_Right": 0.12051368577242762, "cube 1 lift distance": 0.00011890399141656349, "cube 2 lift distance": 0.043979631266676256 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.415428655130319, "bimanual_gripper_vertical_difference": 0.04213786800734235, "task_stage_reached": { "1": true }, "task_success": 0.0 }, { "completion_time": 1.3370330333709717, "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": 0.32744383233405056, "block_0-gripper_Right": 0.1651243621389515, "block_1-gripper_Left": 0.3059416245909083, "block_1-gripper_Right": 0.12049082217479144, "cube 1 lift distance": 0.00011890829255833957, "cube 2 lift distance": 0.04221738907973083 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.4124563277374231, "bimanual_gripper_vertical_difference": 0.04235761922292665, "task_stage_reached": { "1": true }, "task_success": 0.0 }, { "completion_time": 1.3610501289367676, "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": 0.32653985695579074, "block_0-gripper_Right": 0.16224040090565503, "block_1-gripper_Left": 0.30478264784143455, "block_1-gripper_Right": 0.12043558055663717, "cube 1 lift distance": 0.0001184471386490582, "cube 2 lift distance": 0.040019363159805366 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3912078594988109, "bimanual_gripper_vertical_difference": 0.042598487379796865, "task_stage_reached": { "1": true, "3": true }, "task_success": 0.0 }, { "completion_time": 1.385080337524414, "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": 0.3251911040914615, "block_0-gripper_Right": 0.1620581900338407, "block_1-gripper_Left": 0.30344980164344104, "block_1-gripper_Right": 0.1204446402217022, "cube 1 lift distance": 0.00010632689531508976, "cube 2 lift distance": 0.03990957934163597 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3707586894744188, "bimanual_gripper_vertical_difference": 0.042814974047555826, "task_stage_reached": { "1": true, "3": true }, "task_success": 0.0 }, { "completion_time": 1.4095573425292969, "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": 0.32377378396333245, "block_0-gripper_Right": 0.1619400718737933, "block_1-gripper_Left": 0.3018190853341565, "block_1-gripper_Right": 0.1204343014212816, "cube 1 lift distance": 0.00011618467996477033, "cube 2 lift distance": 0.03988190632871724 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.366600550849287, "bimanual_gripper_vertical_difference": 0.0430041858361037, "task_stage_reached": { "1": true, "3": true }, "task_success": 0.0 }, { "completion_time": 1.4344956874847412, "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": 0.32255742258298004, "block_0-gripper_Right": 0.16183811705243858, "block_1-gripper_Left": 0.30049899688173437, "block_1-gripper_Right": 0.12041261331922502, "cube 1 lift distance": 8.548554317022727e-05, "cube 2 lift distance": 0.03983578927343889 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3499451962897606, "bimanual_gripper_vertical_difference": 0.04316733657399499, "task_stage_reached": { "1": true, "3": true }, "task_success": 0.0 }, { "completion_time": 1.4602715969085693, "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": 0.3216177869057521, "block_0-gripper_Right": 0.16193756439253695, "block_1-gripper_Left": 0.29944569240742447, "block_1-gripper_Right": 0.12039685913984273, "cube 1 lift distance": 8.17225877852712e-05, "cube 2 lift distance": 0.04002399541630286 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3295370950382983, "bimanual_gripper_vertical_difference": 0.04330512868101667, "task_stage_reached": { "1": true, "3": true }, "task_success": 0.0 }, { "completion_time": 1.4881970882415771, "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": 0.32098411204218125, "block_0-gripper_Right": 0.16186790992489342, "block_1-gripper_Left": 0.2986779024361978, "block_1-gripper_Right": 0.12036158658967182, "cube 1 lift distance": 0.0001149896752065116, "cube 2 lift distance": 0.04022104479209432 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.311292109949028, "bimanual_gripper_vertical_difference": 0.04342054869177093, "task_stage_reached": { "1": true, "3": true }, "task_success": 0.0 }, { "completion_time": 1.5119209289550781, "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": 0.3206510242020263, "block_0-gripper_Right": 0.1618931995487129, "block_1-gripper_Left": 0.29786291462021824, "block_1-gripper_Right": 0.12036691873610993, "cube 1 lift distance": 0.0003073853658027703, "cube 2 lift distance": 0.040821499724514654 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2972539539932852, "bimanual_gripper_vertical_difference": 0.043514116798944805, "task_stage_reached": { "1": true, "3": true }, "task_success": 0.0 }, { "completion_time": 1.536938190460205, "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": 0.32123673988931994, "block_0-gripper_Right": 0.1616434202550241, "block_1-gripper_Left": 0.2977146587976236, "block_1-gripper_Right": 0.12039515523496573, "cube 1 lift distance": 0.0007090315561059102, "cube 2 lift distance": 0.04136025774991725 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2809326182398841, "bimanual_gripper_vertical_difference": 0.04359667468616925, "task_stage_reached": { "1": true, "3": true }, "task_success": 0.0 }, { "completion_time": 1.5613605976104736, "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": 0.32270731643471495, "block_0-gripper_Right": 0.16112094339810912, "block_1-gripper_Left": 0.297981743072137, "block_1-gripper_Right": 0.12039709661791188, "cube 1 lift distance": 0.000613051988718194, "cube 2 lift distance": 0.04106804794433305 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2632657622616574, "bimanual_gripper_vertical_difference": 0.04369010003921332, "task_stage_reached": { "1": true, "3": true }, "task_success": 0.0 }, { "completion_time": 1.585571050643921, "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": 0.3244474794959501, "block_0-gripper_Right": 0.1614508117896375, "block_1-gripper_Left": 0.2977170036151184, "block_1-gripper_Right": 0.12044642410136083, "cube 1 lift distance": 7.947692917931182e-05, "cube 2 lift distance": 0.04095084328837495 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2473105338501644, "bimanual_gripper_vertical_difference": 0.04379120011654533, "task_stage_reached": { "1": true, "3": true }, "task_success": 0.0 }, { "completion_time": 1.6107585430145264, "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": 0.3249650052588322, "block_0-gripper_Right": 0.16085997728603466, "block_1-gripper_Left": 0.29732489917246524, "block_1-gripper_Right": 0.12039656357883113, "cube 1 lift distance": 0.00026416758233727133, "cube 2 lift distance": 0.040631882115614415 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2307245783292813, "bimanual_gripper_vertical_difference": 0.04390022428701463, "task_stage_reached": { "1": true, "3": true }, "task_success": 0.0 }, { "completion_time": 1.6360433101654053, "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": 0.32547789103050684, "block_0-gripper_Right": 0.1605737992339056, "block_1-gripper_Left": 0.29720848114145004, "block_1-gripper_Right": 0.1204160443166994, "cube 1 lift distance": 0.00012298321690085157, "cube 2 lift distance": 0.04018645389440856 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.2143766520091344, "bimanual_gripper_vertical_difference": 0.04401683420544573, "task_stage_reached": { "1": true, "3": true }, "task_success": 0.0 }, { "completion_time": 1.6612155437469482, "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": 0.32579565207927286, "block_0-gripper_Right": 0.16123574041902272, "block_1-gripper_Left": 0.29799614070928854, "block_1-gripper_Right": 0.12118754272404356, "cube 1 lift distance": 0.00012958634083182208, "cube 2 lift distance": 0.040133160113241084 }, "success": 1.0, "bimanual_arm_velocity_difference": 1.1986862471530142, "bimanual_gripper_vertical_difference": 0.044123156808162464, "task_stage_reached": { "1": true, "3": true }, "task_success": 1.0 } ]