[ { "completion_time": 0.0387270450592041, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false }, "target_distance": { "block_0-gripper_Left": 0.6919088956932207, "block_0-gripper_Right": 0.24237531722240596, "block_1-gripper_Left": 0.24237802459904836, "block_1-gripper_Right": 0.6919212247559593, "cube 1 lift distance": 0.02185960000000009, "cube 2 lift distance": 0.02185960000000009 }, "success": 0.0, "bimanual_arm_velocity_difference": 1.3877787807814457e-17, "bimanual_gripper_vertical_difference": 0.0, "task_success": 0.0 }, { "completion_time": 0.06105756759643555, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false }, "target_distance": { "block_0-gripper_Left": 0.6991157951190111, "block_0-gripper_Right": 0.26226915616586965, "block_1-gripper_Left": 0.2622762144029726, "block_1-gripper_Right": 0.6991502110983762, "cube 1 lift distance": -0.0005471185722757399, "cube 2 lift distance": -0.0005471185722757399 }, "success": 0.0, "bimanual_arm_velocity_difference": 8.908421257912413e-06, "bimanual_gripper_vertical_difference": 6.51211973234922e-10, "task_success": 0.0 }, { "completion_time": 0.08394527435302734, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false }, "target_distance": { "block_0-gripper_Left": 0.6985098157918368, "block_0-gripper_Right": 0.26066701135650233, "block_1-gripper_Left": 0.2606770161250797, "block_1-gripper_Right": 0.6985583510621591, "cube 1 lift distance": 9.417813112211348e-05, "cube 2 lift distance": 9.417813112211348e-05 }, "success": 0.0, "bimanual_arm_velocity_difference": 2.793633573759437e-05, "bimanual_gripper_vertical_difference": 4.3596770638032467e-10, "task_success": 0.0 }, { "completion_time": 0.10688018798828125, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false }, "target_distance": { "block_0-gripper_Left": 0.6982672157157581, "block_0-gripper_Right": 0.26002646007640073, "block_1-gripper_Left": 0.2600382090130091, "block_1-gripper_Right": 0.6983240904335516, "cube 1 lift distance": 9.867731333701446e-05, "cube 2 lift distance": 9.867731333701446e-05 }, "success": 0.0, "bimanual_arm_velocity_difference": 2.105939707611887e-05, "bimanual_gripper_vertical_difference": 4.002738696051722e-10, "task_success": 0.0 }, { "completion_time": 0.1299290657043457, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false }, "target_distance": { "block_0-gripper_Left": 0.6981123845827593, "block_0-gripper_Right": 0.2596164324052598, "block_1-gripper_Left": 0.2596292146193702, "block_1-gripper_Right": 0.6981741920703572, "cube 1 lift distance": 9.870802049471994e-05, "cube 2 lift distance": 9.870802049471994e-05 }, "success": 0.0, "bimanual_arm_velocity_difference": 5.437327357885359e-05, "bimanual_gripper_vertical_difference": 9.261948097361028e-10, "task_success": 0.0 }, { "completion_time": 0.15288114547729492, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false }, "target_distance": { "block_0-gripper_Left": 0.6980128187209343, "block_0-gripper_Right": 0.2593520900242834, "block_1-gripper_Left": 0.2593654835133302, "block_1-gripper_Right": 0.6980775324965233, "cube 1 lift distance": 9.870822195612305e-05, "cube 2 lift distance": 9.870822195623408e-05 }, "success": 0.0, "bimanual_arm_velocity_difference": 4.540214304700243e-05, "bimanual_gripper_vertical_difference": 1.5744261450123531e-09, "task_success": 0.0 }, { "completion_time": 0.17606854438781738, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false }, "target_distance": { "block_0-gripper_Left": 0.7028258134677492, "block_0-gripper_Right": 0.25708760308578016, "block_1-gripper_Left": 0.25659711047077155, "block_1-gripper_Right": 0.7004700523850981, "cube 1 lift distance": 9.870821515478578e-05, "cube 2 lift distance": 9.870821515478578e-05 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.003160103622897832, "bimanual_gripper_vertical_difference": 4.579055964426537e-05, "task_success": 0.0 }, { "completion_time": 0.19930267333984375, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false }, "target_distance": { "block_0-gripper_Left": 0.7158649394997587, "block_0-gripper_Right": 0.25386164470300565, "block_1-gripper_Left": 0.2511676607878818, "block_1-gripper_Right": 0.7076829425456324, "cube 1 lift distance": 9.870820692980953e-05, "cube 2 lift distance": 9.870820692980953e-05 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.014879905225250756, "bimanual_gripper_vertical_difference": 0.0003493488471013606, "task_success": 0.0 }, { "completion_time": 0.22234892845153809, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false }, "target_distance": { "block_0-gripper_Left": 0.730884047524644, "block_0-gripper_Right": 0.25488975887013954, "block_1-gripper_Left": 0.24425273350800947, "block_1-gripper_Right": 0.7160269643682835, "cube 1 lift distance": 9.870819869328695e-05, "cube 2 lift distance": 9.870819869328695e-05 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.017672237565994856, "bimanual_gripper_vertical_difference": 0.0014987972944264054, "task_success": 0.0 }, { "completion_time": 0.2451612949371338, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false }, "target_distance": { "block_0-gripper_Left": 0.7443364949875119, "block_0-gripper_Right": 0.25798244686379546, "block_1-gripper_Left": 0.23923338639716069, "block_1-gripper_Right": 0.7212252230094073, "cube 1 lift distance": 9.870819045521007e-05, "cube 2 lift distance": 9.870819045521007e-05 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.023869727430196767, "bimanual_gripper_vertical_difference": 0.003249232886709663, "task_success": 0.0 }, { "completion_time": 0.26792407035827637, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false }, "target_distance": { "block_0-gripper_Left": 0.7559085003652704, "block_0-gripper_Right": 0.2615038769893619, "block_1-gripper_Left": 0.2370220442085083, "block_1-gripper_Right": 0.723658458222686, "cube 1 lift distance": 9.87081822152458e-05, "cube 2 lift distance": 9.87081822152458e-05 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.023986615138775976, "bimanual_gripper_vertical_difference": 0.005245922813132701, "task_success": 0.0 }, { "completion_time": 0.2912440299987793, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false }, "target_distance": { "block_0-gripper_Left": 0.76442570882575, "block_0-gripper_Right": 0.26432517190960175, "block_1-gripper_Left": 0.23550065364133863, "block_1-gripper_Right": 0.7249490233954922, "cube 1 lift distance": 9.870817397350518e-05, "cube 2 lift distance": 9.870817397350518e-05 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.025499641124305708, "bimanual_gripper_vertical_difference": 0.007329974268041273, "task_success": 0.0 }, { "completion_time": 0.3141486644744873, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false }, "target_distance": { "block_0-gripper_Left": 0.7694079715119108, "block_0-gripper_Right": 0.2660648262545555, "block_1-gripper_Left": 0.2337467003916009, "block_1-gripper_Right": 0.7253196916197493, "cube 1 lift distance": 9.87081657299882e-05, "cube 2 lift distance": 9.87081657299882e-05 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.024599114592422526, "bimanual_gripper_vertical_difference": 0.009403533731033984, "task_success": 0.0 }, { "completion_time": 0.33720993995666504, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false }, "target_distance": { "block_0-gripper_Left": 0.7719549774634292, "block_0-gripper_Right": 0.2671564288690739, "block_1-gripper_Left": 0.23260235570344254, "block_1-gripper_Right": 0.7250072685131521, "cube 1 lift distance": 9.87081574849169e-05, "cube 2 lift distance": 9.87081574849169e-05 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.02452428951540803, "bimanual_gripper_vertical_difference": 0.011357463564528951, "task_success": 0.0 }, { "completion_time": 0.3604748249053955, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false }, "target_distance": { "block_0-gripper_Left": 0.7728025915921862, "block_0-gripper_Right": 0.2677991436156047, "block_1-gripper_Left": 0.23194814278537607, "block_1-gripper_Right": 0.7247340984439259, "cube 1 lift distance": 9.870814923818028e-05, "cube 2 lift distance": 9.870814923818028e-05 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.02428158365178192, "bimanual_gripper_vertical_difference": 0.013134009437584086, "task_success": 0.0 }, { "completion_time": 0.38395094871520996, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false }, "target_distance": { "block_0-gripper_Left": 0.7728926956201957, "block_0-gripper_Right": 0.26927246719487974, "block_1-gripper_Left": 0.23397036464948592, "block_1-gripper_Right": 0.7249145960002774, "cube 1 lift distance": 9.870814098944525e-05, "cube 2 lift distance": 9.870814098944525e-05 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.023378366493072466, "bimanual_gripper_vertical_difference": 0.01463389773452528, "task_success": 0.0 }, { "completion_time": 0.40737318992614746, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false }, "target_distance": { "block_0-gripper_Left": 0.7723503501214195, "block_0-gripper_Right": 0.26760002496451185, "block_1-gripper_Left": 0.23240376206092853, "block_1-gripper_Right": 0.7242598965603829, "cube 1 lift distance": 9.870813273893386e-05, "cube 2 lift distance": 9.870813273893386e-05 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.022016707156220124, "bimanual_gripper_vertical_difference": 0.015949895795414164, "task_success": 0.0 }, { "completion_time": 0.43084168434143066, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false }, "target_distance": { "block_0-gripper_Left": 0.7719132490412632, "block_0-gripper_Right": 0.2661842366401585, "block_1-gripper_Left": 0.230818038463986, "block_1-gripper_Right": 0.7237557739346845, "cube 1 lift distance": 9.870812448697919e-05, "cube 2 lift distance": 9.870812448697919e-05 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.020847766364752666, "bimanual_gripper_vertical_difference": 0.017130410192290273, "task_success": 0.0 }, { "completion_time": 0.45418715476989746, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false }, "target_distance": { "block_0-gripper_Left": 0.7716313281617665, "block_0-gripper_Right": 0.2652650851575632, "block_1-gripper_Left": 0.22978642338422256, "block_1-gripper_Right": 0.7234306047405002, "cube 1 lift distance": 9.870811623324816e-05, "cube 2 lift distance": 9.870811623335918e-05 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.019763799778381084, "bimanual_gripper_vertical_difference": 0.01819339116152464, "task_success": 0.0 }, { "completion_time": 0.4773721694946289, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false }, "target_distance": { "block_0-gripper_Left": 0.7709810794555779, "block_0-gripper_Right": 0.2635867634149467, "block_1-gripper_Left": 0.2282974770203615, "block_1-gripper_Right": 0.7226178134314535, "cube 1 lift distance": 9.870810797774077e-05, "cube 2 lift distance": 9.870810797785179e-05 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.01879736418941783, "bimanual_gripper_vertical_difference": 0.019136398444806156, "task_success": 0.0 }, { "completion_time": 0.5052566528320312, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false }, "target_distance": { "block_0-gripper_Left": 0.7680926585894313, "block_0-gripper_Right": 0.25904655888516, "block_1-gripper_Left": 0.22451629409124033, "block_1-gripper_Right": 0.7204146280888126, "cube 1 lift distance": 9.8708099720346e-05, "cube 2 lift distance": 9.870809972023498e-05 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.01864480099380746, "bimanual_gripper_vertical_difference": 0.019920721051255245, "task_success": 0.0 }, { "completion_time": 0.5285253524780273, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false }, "target_distance": { "block_0-gripper_Left": 0.7631588112649528, "block_0-gripper_Right": 0.2516617644696659, "block_1-gripper_Left": 0.21771874032610009, "block_1-gripper_Right": 0.7178485893149799, "cube 1 lift distance": 9.87080914612859e-05, "cube 2 lift distance": 9.87080914612859e-05 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.019324904680176475, "bimanual_gripper_vertical_difference": 0.020569042113130164, "task_success": 0.0 }, { "completion_time": 0.5517733097076416, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false }, "target_distance": { "block_0-gripper_Left": 0.7563791446442814, "block_0-gripper_Right": 0.24206627468794104, "block_1-gripper_Left": 0.20773012226676943, "block_1-gripper_Right": 0.7148245943510727, "cube 1 lift distance": 9.870808320067148e-05, "cube 2 lift distance": 9.870808320067148e-05 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.020462827617748862, "bimanual_gripper_vertical_difference": 0.02114397580955787, "task_success": 0.0 }, { "completion_time": 0.5749363899230957, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false }, "target_distance": { "block_0-gripper_Left": 0.7466167893074621, "block_0-gripper_Right": 0.23155399404469995, "block_1-gripper_Left": 0.19289222366397302, "block_1-gripper_Right": 0.7118989464982559, "cube 1 lift distance": 9.870807493816969e-05, "cube 2 lift distance": 9.870807493828071e-05 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.021446746311511417, "bimanual_gripper_vertical_difference": 0.021841348526084752, "task_success": 0.0 }, { "completion_time": 0.5980715751647949, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false }, "target_distance": { "block_0-gripper_Left": 0.7372637494221626, "block_0-gripper_Right": 0.21823077536643995, "block_1-gripper_Left": 0.1774408144706292, "block_1-gripper_Right": 0.7089693942413655, "cube 1 lift distance": 9.870806667400256e-05, "cube 2 lift distance": 9.870806667400256e-05 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.02843914981706896, "bimanual_gripper_vertical_difference": 0.022576530215153136, "task_success": 0.0 }, { "completion_time": 0.6226322650909424, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false }, "target_distance": { "block_0-gripper_Left": 0.7295078690799174, "block_0-gripper_Right": 0.20784216146492002, "block_1-gripper_Left": 0.16312328189701375, "block_1-gripper_Right": 0.7084030534694415, "cube 1 lift distance": 9.870805840783703e-05, "cube 2 lift distance": 9.870805840783703e-05 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.03209219403503247, "bimanual_gripper_vertical_difference": 0.023426613357901964, "task_success": 0.0 }, { "completion_time": 0.6463367938995361, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false }, "target_distance": { "block_0-gripper_Left": 0.7235948197177484, "block_0-gripper_Right": 0.1990402743269521, "block_1-gripper_Left": 0.15045905498684195, "block_1-gripper_Right": 0.7091858481951255, "cube 1 lift distance": 9.870805014011719e-05, "cube 2 lift distance": 9.870805014011719e-05 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.0699815167080008, "bimanual_gripper_vertical_difference": 0.02438515576116118, "task_success": 0.0 }, { "completion_time": 0.6701374053955078, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false }, "target_distance": { "block_0-gripper_Left": 0.7197618896663488, "block_0-gripper_Right": 0.19054349976286722, "block_1-gripper_Left": 0.1391826689328652, "block_1-gripper_Right": 0.7103480033851033, "cube 1 lift distance": 9.870804187084303e-05, "cube 2 lift distance": 9.870804187084303e-05 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.10525858004365417, "bimanual_gripper_vertical_difference": 0.025405495712364865, "task_success": 0.0 }, { "completion_time": 0.6936845779418945, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false }, "target_distance": { "block_0-gripper_Left": 0.718161333051228, "block_0-gripper_Right": 0.18236482465109927, "block_1-gripper_Left": 0.12965534686869762, "block_1-gripper_Right": 0.7114071433511969, "cube 1 lift distance": 9.87080335996815e-05, "cube 2 lift distance": 9.87080335996815e-05 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.1117519843499171, "bimanual_gripper_vertical_difference": 0.026436072921478645, "task_success": 0.0 }, { "completion_time": 0.7167718410491943, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false }, "target_distance": { "block_0-gripper_Left": 0.7181733176785905, "block_0-gripper_Right": 0.17417989987618634, "block_1-gripper_Left": 0.12171080410075368, "block_1-gripper_Right": 0.7118196184033363, "cube 1 lift distance": 9.870802532663259e-05, "cube 2 lift distance": 9.870802532663259e-05 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.13352300283642568, "bimanual_gripper_vertical_difference": 0.027429202927258485, "task_success": 0.0 }, { "completion_time": 0.7395451068878174, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false }, "target_distance": { "block_0-gripper_Left": 0.7185316853724885, "block_0-gripper_Right": 0.16639670967663395, "block_1-gripper_Left": 0.11522536311375857, "block_1-gripper_Right": 0.7114211779242315, "cube 1 lift distance": 9.870801705191834e-05, "cube 2 lift distance": 9.870801705191834e-05 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.18413389780068598, "bimanual_gripper_vertical_difference": 0.028357555426473963, "task_success": 0.0 }, { "completion_time": 0.7635180950164795, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false }, "target_distance": { "block_0-gripper_Left": 0.7179935449441228, "block_0-gripper_Right": 0.1579027629881617, "block_1-gripper_Left": 0.10873873791338744, "block_1-gripper_Right": 0.7102936995567367, "cube 1 lift distance": 9.870800877564978e-05, "cube 2 lift distance": 9.870800877564978e-05 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.23196158997632393, "bimanual_gripper_vertical_difference": 0.0292032868553534, "task_success": 0.0 }, { "completion_time": 0.7865371704101562, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false }, "target_distance": { "block_0-gripper_Left": 0.7165961634346232, "block_0-gripper_Right": 0.14974068063651733, "block_1-gripper_Left": 0.10367653457696363, "block_1-gripper_Right": 0.7088970342593501, "cube 1 lift distance": 9.870800049749384e-05, "cube 2 lift distance": 9.870800049749384e-05 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.26829829734856137, "bimanual_gripper_vertical_difference": 0.029924886099482604, "task_success": 0.0 }, { "completion_time": 0.8098318576812744, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false }, "target_distance": { "block_0-gripper_Left": 0.7154375495676111, "block_0-gripper_Right": 0.1425713361509478, "block_1-gripper_Left": 0.1038071545337292, "block_1-gripper_Right": 0.7074296841301917, "cube 1 lift distance": 9.870799221756155e-05, "cube 2 lift distance": 9.870799221756155e-05 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.28144926107330404, "bimanual_gripper_vertical_difference": 0.030376692073512377, "task_success": 0.0 }, { "completion_time": 0.8329353332519531, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false }, "target_distance": { "block_0-gripper_Left": 0.7154257544026218, "block_0-gripper_Right": 0.13632305305574532, "block_1-gripper_Left": 0.103886660729552, "block_1-gripper_Right": 0.7057949116518962, "cube 1 lift distance": 9.870798393596392e-05, "cube 2 lift distance": 9.870798393596392e-05 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.2831854959969191, "bimanual_gripper_vertical_difference": 0.030609636785528034, "task_success": 0.0 }, { "completion_time": 0.855961799621582, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false }, "target_distance": { "block_0-gripper_Left": 0.711670703791184, "block_0-gripper_Right": 0.1312490850229557, "block_1-gripper_Left": 0.10458031531197338, "block_1-gripper_Right": 0.7041271045420708, "cube 1 lift distance": 9.870797565258993e-05, "cube 2 lift distance": 9.870797565258993e-05 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.27648084380031723, "bimanual_gripper_vertical_difference": 0.030672199853292628, "task_success": 0.0 }, { "completion_time": 0.8792421817779541, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false }, "target_distance": { "block_0-gripper_Left": 0.71533150232065, "block_0-gripper_Right": 0.12746507825764714, "block_1-gripper_Left": 0.1044716385049123, "block_1-gripper_Right": 0.7028790306828193, "cube 1 lift distance": 9.870796736766163e-05, "cube 2 lift distance": 9.870796736766163e-05 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.2690127679226334, "bimanual_gripper_vertical_difference": 0.030620382443101134, "task_success": 0.0 }, { "completion_time": 0.9072306156158447, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false }, "target_distance": { "block_0-gripper_Left": 0.718408531432743, "block_0-gripper_Right": 0.12474133118445693, "block_1-gripper_Left": 0.10478666500846952, "block_1-gripper_Right": 0.7022664965004416, "cube 1 lift distance": 9.870795908084595e-05, "cube 2 lift distance": 9.870795908084595e-05 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.26936088536327957, "bimanual_gripper_vertical_difference": 0.03048909027201615, "task_success": 0.0 }, { "completion_time": 0.9305665493011475, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false }, "target_distance": { "block_0-gripper_Left": 0.7206795648424258, "block_0-gripper_Right": 0.1229271117234348, "block_1-gripper_Left": 0.105060781809793, "block_1-gripper_Right": 0.702036182960044, "cube 1 lift distance": 9.87079507921429e-05, "cube 2 lift distance": 9.87079507921429e-05 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.27688537048783907, "bimanual_gripper_vertical_difference": 0.030312363575009858, "task_success": 0.0 }, { "completion_time": 0.9538240432739258, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 0, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false }, "target_distance": { "block_0-gripper_Left": 0.7224312226511451, "block_0-gripper_Right": 0.12200865226435331, "block_1-gripper_Left": 0.10518709055986042, "block_1-gripper_Right": 0.7020037021117823, "cube 1 lift distance": 9.87079425017745e-05, "cube 2 lift distance": 9.870794250188553e-05 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.28736337647218585, "bimanual_gripper_vertical_difference": 0.030122985184424383, "task_success": 0.0 }, { "completion_time": 0.9801456928253174, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false }, "target_distance": { "block_0-gripper_Left": 0.7147194768838345, "block_0-gripper_Right": 0.12165640763552135, "block_1-gripper_Left": 0.10514202148822771, "block_1-gripper_Right": 0.7020111206625256, "cube 1 lift distance": 9.87079342098518e-05, "cube 2 lift distance": 9.87079342098518e-05 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.31090121755309585, "bimanual_gripper_vertical_difference": 0.029926348617268776, "task_success": 0.0 }, { "completion_time": 1.0032789707183838, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false }, "target_distance": { "block_0-gripper_Left": 0.7134556229855568, "block_0-gripper_Right": 0.12143356683308172, "block_1-gripper_Left": 0.1057816170880887, "block_1-gripper_Right": 0.7019735921255954, "cube 1 lift distance": 9.870792591604172e-05, "cube 2 lift distance": 9.870792591604172e-05 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.3328612216577523, "bimanual_gripper_vertical_difference": 0.02971220765137229, "task_success": 0.0 }, { "completion_time": 1.0270872116088867, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false }, "target_distance": { "block_0-gripper_Left": 0.7134012265525326, "block_0-gripper_Right": 0.12103577423073365, "block_1-gripper_Left": 0.1063796929492635, "block_1-gripper_Right": 0.7016511883465205, "cube 1 lift distance": 9.87079176205663e-05, "cube 2 lift distance": 9.87079176205663e-05 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.34924185844574357, "bimanual_gripper_vertical_difference": 0.029478981905767507, "task_success": 0.0 }, { "completion_time": 1.0503802299499512, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false }, "target_distance": { "block_0-gripper_Left": 0.711955909762133, "block_0-gripper_Right": 0.12050670103251533, "block_1-gripper_Left": 0.10646107330517844, "block_1-gripper_Right": 0.701220777803183, "cube 1 lift distance": 9.87079093232035e-05, "cube 2 lift distance": 9.87079093232035e-05 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.35820369987012485, "bimanual_gripper_vertical_difference": 0.029233695578888327, "task_success": 0.0 }, { "completion_time": 1.0736169815063477, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false }, "target_distance": { "block_0-gripper_Left": 0.7093334191666284, "block_0-gripper_Right": 0.11993032113456809, "block_1-gripper_Left": 0.10593706057898714, "block_1-gripper_Right": 0.7009077223427055, "cube 1 lift distance": 9.870790102417537e-05, "cube 2 lift distance": 9.870790102417537e-05 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.36027420616160627, "bimanual_gripper_vertical_difference": 0.028984052347210864, "task_success": 0.0 }, { "completion_time": 1.0967001914978027, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false }, "target_distance": { "block_0-gripper_Left": 0.7072885611750619, "block_0-gripper_Right": 0.1193017278061399, "block_1-gripper_Left": 0.10405509435266913, "block_1-gripper_Right": 0.7008128183250046, "cube 1 lift distance": 9.870789272337088e-05, "cube 2 lift distance": 9.870789272337088e-05 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.3786050697979962, "bimanual_gripper_vertical_difference": 0.02874628428664968, "task_success": 0.0 }, { "completion_time": 1.1211462020874023, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false }, "target_distance": { "block_0-gripper_Left": 0.7049004936504162, "block_0-gripper_Right": 0.11874654959332788, "block_1-gripper_Left": 0.10241947773986698, "block_1-gripper_Right": 0.7010389403662783, "cube 1 lift distance": 9.870788442090106e-05, "cube 2 lift distance": 9.870788442090106e-05 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.40348023217277146, "bimanual_gripper_vertical_difference": 0.02851348771813883, "task_success": 0.0 }, { "completion_time": 1.1443231105804443, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false }, "target_distance": { "block_0-gripper_Left": 0.7032841403319062, "block_0-gripper_Right": 0.11823193263674973, "block_1-gripper_Left": 0.10103520914144838, "block_1-gripper_Right": 0.7016958106940271, "cube 1 lift distance": 9.870787611665488e-05, "cube 2 lift distance": 9.870787611665488e-05 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.3985379669701585, "bimanual_gripper_vertical_difference": 0.02828915886374836, "task_success": 0.0 }, { "completion_time": 1.1672520637512207, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": false, "2": false, "3": false }, "target_distance": { "block_0-gripper_Left": 0.7038202154140654, "block_0-gripper_Right": 0.11746952719452255, "block_1-gripper_Left": 0.09899925483907004, "block_1-gripper_Right": 0.702129319528358, "cube 1 lift distance": 9.870786781052132e-05, "cube 2 lift distance": 9.870786781052132e-05 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.40611702941657624, "bimanual_gripper_vertical_difference": 0.028088018090946396, "task_success": 0.0 }, { "completion_time": 1.1897625923156738, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false }, "target_distance": { "block_0-gripper_Left": 0.7058984758228489, "block_0-gripper_Right": 0.11684961349554897, "block_1-gripper_Left": 0.09803471644942144, "block_1-gripper_Right": 0.7007970777203767, "cube 1 lift distance": 9.87078595026114e-05, "cube 2 lift distance": 0.0001778643212443365 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.404559927869145, "bimanual_gripper_vertical_difference": 0.027898110457538983, "task_success": 0.0 }, { "completion_time": 1.2130374908447266, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false }, "target_distance": { "block_0-gripper_Left": 0.7056567444007729, "block_0-gripper_Right": 0.1163746706867964, "block_1-gripper_Left": 0.09818021796407639, "block_1-gripper_Right": 0.7019182571640492, "cube 1 lift distance": 9.87078511932582e-05, "cube 2 lift distance": 0.000150794587033376 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.42132658030228765, "bimanual_gripper_vertical_difference": 0.02771021138918876, "task_success": 0.0 }, { "completion_time": 1.2353110313415527, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false }, "target_distance": { "block_0-gripper_Left": 0.7061105462158376, "block_0-gripper_Right": 0.11618788031772387, "block_1-gripper_Left": 0.09814930221769742, "block_1-gripper_Right": 0.7032994406003599, "cube 1 lift distance": 9.870784288212864e-05, "cube 2 lift distance": 0.00013824227840975034 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.4491953669504286, "bimanual_gripper_vertical_difference": 0.02753124672201289, "task_success": 0.0 }, { "completion_time": 1.2590761184692383, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false }, "target_distance": { "block_0-gripper_Left": 0.7066426707442252, "block_0-gripper_Right": 0.11639875137260824, "block_1-gripper_Left": 0.09813681252949463, "block_1-gripper_Right": 0.7041892935309305, "cube 1 lift distance": 9.870783456900067e-05, "cube 2 lift distance": 0.00017694172005844333 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.4787868919095192, "bimanual_gripper_vertical_difference": 0.027366647777871345, "task_success": 0.0 }, { "completion_time": 1.281447172164917, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false }, "target_distance": { "block_0-gripper_Left": 0.7071122278962372, "block_0-gripper_Right": 0.11675930655603745, "block_1-gripper_Left": 0.09811937081726327, "block_1-gripper_Right": 0.7044963511068095, "cube 1 lift distance": 9.870782625420738e-05, "cube 2 lift distance": 0.00014104406380610612 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.508774462726766, "bimanual_gripper_vertical_difference": 0.02721951808793506, "task_success": 0.0 }, { "completion_time": 1.3040900230407715, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false }, "target_distance": { "block_0-gripper_Left": 0.7072984991776515, "block_0-gripper_Right": 0.11718500002258352, "block_1-gripper_Left": 0.09812224581767037, "block_1-gripper_Right": 0.7043088171014552, "cube 1 lift distance": 9.870781793774874e-05, "cube 2 lift distance": 0.0001240056678877277 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.5388659287764639, "bimanual_gripper_vertical_difference": 0.027088844760249628, "task_success": 0.0 }, { "completion_time": 1.3267948627471924, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false }, "target_distance": { "block_0-gripper_Left": 0.7072964081037676, "block_0-gripper_Right": 0.11773747722595576, "block_1-gripper_Left": 0.09812248551543885, "block_1-gripper_Right": 0.7041170796023212, "cube 1 lift distance": 9.870780961962478e-05, "cube 2 lift distance": 0.00011199728767530281 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.5684436836540071, "bimanual_gripper_vertical_difference": 0.026975075489367947, "task_success": 0.0 }, { "completion_time": 1.3493661880493164, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false }, "target_distance": { "block_0-gripper_Left": 0.7073554141564573, "block_0-gripper_Right": 0.11784727751272764, "block_1-gripper_Left": 0.09811794868500487, "block_1-gripper_Right": 0.7041985449426691, "cube 1 lift distance": 9.870780129972445e-05, "cube 2 lift distance": 9.01495970218047e-05 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.5975473934967417, "bimanual_gripper_vertical_difference": 0.026870556436981618, "task_success": 0.0 }, { "completion_time": 1.3725028038024902, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false }, "target_distance": { "block_0-gripper_Left": 0.7074155972851796, "block_0-gripper_Right": 0.11679440868285146, "block_1-gripper_Left": 0.09811776094308806, "block_1-gripper_Right": 0.7046671945049469, "cube 1 lift distance": 9.87077929777147e-05, "cube 2 lift distance": 8.311920876036272e-05 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6259450936854134, "bimanual_gripper_vertical_difference": 0.026753930116576695, "task_success": 0.0 }, { "completion_time": 1.3966751098632812, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false }, "target_distance": { "block_0-gripper_Left": 0.7074571989116362, "block_0-gripper_Right": 0.11428466474007595, "block_1-gripper_Left": 0.09811878439600989, "block_1-gripper_Right": 0.7054645477535939, "cube 1 lift distance": 9.870778465426167e-05, "cube 2 lift distance": 6.824431476071258e-05 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6534679174853955, "bimanual_gripper_vertical_difference": 0.026600568544583026, "task_success": 0.0 }, { "completion_time": 1.4199025630950928, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false }, "target_distance": { "block_0-gripper_Left": 0.7074862457940211, "block_0-gripper_Right": 0.11112972489181122, "block_1-gripper_Left": 0.09811971005232704, "block_1-gripper_Right": 0.7065534787462552, "cube 1 lift distance": 9.870777632914329e-05, "cube 2 lift distance": 5.0164099268390494e-05 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6623027737874297, "bimanual_gripper_vertical_difference": 0.026401161083970417, "task_success": 0.0 }, { "completion_time": 1.4456756114959717, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false }, "target_distance": { "block_0-gripper_Left": 0.7075082555783795, "block_0-gripper_Right": 0.10845186516929398, "block_1-gripper_Left": 0.09812001204677899, "block_1-gripper_Right": 0.7077795389338022, "cube 1 lift distance": 9.870776800224856e-05, "cube 2 lift distance": 3.719933528889552e-05 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6556037406512374, "bimanual_gripper_vertical_difference": 0.026165171422580877, "task_success": 0.0 }, { "completion_time": 1.468721866607666, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false }, "target_distance": { "block_0-gripper_Left": 0.7075523256760251, "block_0-gripper_Right": 0.1066946188034101, "block_1-gripper_Left": 0.09812628803792228, "block_1-gripper_Right": 0.708795398472724, "cube 1 lift distance": 9.870775967346646e-05, "cube 2 lift distance": 4.102529365501706e-05 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6566406885557303, "bimanual_gripper_vertical_difference": 0.025908573527808437, "task_success": 0.0 }, { "completion_time": 1.4919042587280273, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false }, "target_distance": { "block_0-gripper_Left": 0.7075937186361784, "block_0-gripper_Right": 0.1059894983190154, "block_1-gripper_Left": 0.09812748084106722, "block_1-gripper_Right": 0.7091560297569568, "cube 1 lift distance": 9.870775134279697e-05, "cube 2 lift distance": 6.433896612645373e-05 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6710196712562574, "bimanual_gripper_vertical_difference": 0.025648586898409025, "task_success": 0.0 }, { "completion_time": 1.5148649215698242, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false }, "target_distance": { "block_0-gripper_Left": 0.7077028832055716, "block_0-gripper_Right": 0.10607166322243214, "block_1-gripper_Left": 0.09813168821217759, "block_1-gripper_Right": 0.708949552496787, "cube 1 lift distance": 9.870774301057317e-05, "cube 2 lift distance": 0.00014265636488297595 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.6967652124320826, "bimanual_gripper_vertical_difference": 0.02539690396277005, "task_success": 0.0 }, { "completion_time": 1.5382957458496094, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false }, "target_distance": { "block_0-gripper_Left": 0.7078202306611465, "block_0-gripper_Right": 0.10647414835837461, "block_1-gripper_Left": 0.09813502283810374, "block_1-gripper_Right": 0.7085626616272126, "cube 1 lift distance": 9.870773467668403e-05, "cube 2 lift distance": 0.00022265719857328392 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7214104073951089, "bimanual_gripper_vertical_difference": 0.025158132663271198, "task_success": 0.0 }, { "completion_time": 1.5611000061035156, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": false, "3": false }, "target_distance": { "block_0-gripper_Left": 0.7079226389252922, "block_0-gripper_Right": 0.10687142730401233, "block_1-gripper_Left": 0.09814065201560512, "block_1-gripper_Right": 0.7087653742167171, "cube 1 lift distance": 9.870772634101854e-05, "cube 2 lift distance": 0.00031824807376934494 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7448904179223851, "bimanual_gripper_vertical_difference": 0.024931489529861073, "task_success": 0.0 }, { "completion_time": 1.5824322700500488, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false }, "target_distance": { "block_0-gripper_Left": 0.7084556599751363, "block_0-gripper_Right": 0.10716211173876841, "block_1-gripper_Left": 0.09814991929103135, "block_1-gripper_Right": 0.7090227960364338, "cube 1 lift distance": 0.00014994101908893942, "cube 2 lift distance": 0.0003944210890707289 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7678797816410193, "bimanual_gripper_vertical_difference": 0.024715558758048626, "task_success": 0.0 }, { "completion_time": 1.6041572093963623, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false }, "target_distance": { "block_0-gripper_Left": 0.7090634163003127, "block_0-gripper_Right": 0.1070955569556926, "block_1-gripper_Left": 0.09815754144246773, "block_1-gripper_Right": 0.7096440415723878, "cube 1 lift distance": 0.0002598670558434657, "cube 2 lift distance": 0.0004528141201277647 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.7901103836006078, "bimanual_gripper_vertical_difference": 0.024505682428034362, "task_success": 0.0 }, { "completion_time": 1.6260576248168945, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false }, "target_distance": { "block_0-gripper_Left": 0.7104098268026195, "block_0-gripper_Right": 0.10705260753541201, "block_1-gripper_Left": 0.09816458080843359, "block_1-gripper_Right": 0.7112262919508707, "cube 1 lift distance": 0.00040334258413654567, "cube 2 lift distance": 0.0004923919148545064 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8115343207546509, "bimanual_gripper_vertical_difference": 0.024302582914548412, "task_success": 0.0 }, { "completion_time": 1.6478986740112305, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false }, "target_distance": { "block_0-gripper_Left": 0.7115943110915872, "block_0-gripper_Right": 0.10701977869987264, "block_1-gripper_Left": 0.09817217442773164, "block_1-gripper_Right": 0.7127174216825398, "cube 1 lift distance": 0.0006313122220843459, "cube 2 lift distance": 0.0005228540669003356 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8320990500430011, "bimanual_gripper_vertical_difference": 0.02410725846265369, "task_success": 0.0 }, { "completion_time": 1.6696012020111084, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false }, "target_distance": { "block_0-gripper_Left": 0.7125237646831322, "block_0-gripper_Right": 0.10700402080520473, "block_1-gripper_Left": 0.09817881977309971, "block_1-gripper_Right": 0.7138384747229297, "cube 1 lift distance": 0.0007933623648749277, "cube 2 lift distance": 0.0005479167803021934 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8516827730864365, "bimanual_gripper_vertical_difference": 0.023918681622729636, "task_success": 0.0 }, { "completion_time": 1.6913552284240723, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false }, "target_distance": { "block_0-gripper_Left": 0.7129066883914769, "block_0-gripper_Right": 0.10695607105710166, "block_1-gripper_Left": 0.09818962728140995, "block_1-gripper_Right": 0.7144070059127161, "cube 1 lift distance": 0.0010873585064224978, "cube 2 lift distance": 0.0005527508928978575 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8595254880698736, "bimanual_gripper_vertical_difference": 0.023737810084330672, "task_success": 0.0 }, { "completion_time": 1.7126853466033936, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false }, "target_distance": { "block_0-gripper_Left": 0.71307914768177, "block_0-gripper_Right": 0.10688293000853022, "block_1-gripper_Left": 0.09818883548265529, "block_1-gripper_Right": 0.7145659168394207, "cube 1 lift distance": 0.0011666137599862791, "cube 2 lift distance": 0.0006104544928942079 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8604940088384674, "bimanual_gripper_vertical_difference": 0.02356100395893571, "task_success": 0.0 }, { "completion_time": 1.7353899478912354, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false }, "target_distance": { "block_0-gripper_Left": 0.7132963963202592, "block_0-gripper_Right": 0.10685317640813459, "block_1-gripper_Left": 0.09818655906887107, "block_1-gripper_Right": 0.7148249654756359, "cube 1 lift distance": 0.0012797978188833214, "cube 2 lift distance": 0.0006444245787877723 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8583448674783792, "bimanual_gripper_vertical_difference": 0.023389810448111288, "task_success": 0.0 }, { "completion_time": 1.7580995559692383, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false }, "target_distance": { "block_0-gripper_Left": 0.713519352908886, "block_0-gripper_Right": 0.1068475275384195, "block_1-gripper_Left": 0.09818590953658873, "block_1-gripper_Right": 0.7150591707297631, "cube 1 lift distance": 0.0013396533078796624, "cube 2 lift distance": 0.0006454410532908961 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8531360975295685, "bimanual_gripper_vertical_difference": 0.02322395777516278, "task_success": 0.0 }, { "completion_time": 1.7807362079620361, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false }, "target_distance": { "block_0-gripper_Left": 0.7137032102428318, "block_0-gripper_Right": 0.10684724708222573, "block_1-gripper_Left": 0.0981855237965738, "block_1-gripper_Right": 0.7152585704330702, "cube 1 lift distance": 0.0014496464650605168, "cube 2 lift distance": 0.0006437276734565511 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8460166225145185, "bimanual_gripper_vertical_difference": 0.023063980108946936, "task_success": 0.0 }, { "completion_time": 1.8032586574554443, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false }, "target_distance": { "block_0-gripper_Left": 0.7135266585275023, "block_0-gripper_Right": 0.1068461891051646, "block_1-gripper_Left": 0.09820116259978516, "block_1-gripper_Right": 0.7152862052689867, "cube 1 lift distance": 0.0015453741961324319, "cube 2 lift distance": 0.0006974728573233557 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8363078500848072, "bimanual_gripper_vertical_difference": 0.022909180198278815, "task_success": 0.0 }, { "completion_time": 1.8259291648864746, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false }, "target_distance": { "block_0-gripper_Left": 0.7075127659561282, "block_0-gripper_Right": 0.10682885192210409, "block_1-gripper_Left": 0.09823082787624972, "block_1-gripper_Right": 0.7088246448301465, "cube 1 lift distance": 0.0016294395618670077, "cube 2 lift distance": 0.005590518022634328 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.838223767954364, "bimanual_gripper_vertical_difference": 0.022699185183024353, "task_success": 0.0 }, { "completion_time": 1.850825309753418, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false }, "target_distance": { "block_0-gripper_Left": 0.6923089876966746, "block_0-gripper_Right": 0.10681643513038767, "block_1-gripper_Left": 0.09817068491566305, "block_1-gripper_Right": 0.6916786728433981, "cube 1 lift distance": 0.0017923625355652506, "cube 2 lift distance": 0.01758322722676986 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8478814506755, "bimanual_gripper_vertical_difference": 0.02247633154099303, "task_success": 0.0 }, { "completion_time": 1.873654842376709, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false }, "target_distance": { "block_0-gripper_Left": 0.668959755421368, "block_0-gripper_Right": 0.10681066205578787, "block_1-gripper_Left": 0.09810356998450194, "block_1-gripper_Right": 0.6653882096672552, "cube 1 lift distance": 0.001983538374718985, "cube 2 lift distance": 0.03404214308364839 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8542260887219122, "bimanual_gripper_vertical_difference": 0.022461838780558026, "task_success": 0.0 }, { "completion_time": 1.8982703685760498, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false }, "target_distance": { "block_0-gripper_Left": 0.6410054405750358, "block_0-gripper_Right": 0.10680486829325334, "block_1-gripper_Left": 0.09808683417276018, "block_1-gripper_Right": 0.6340853212681121, "cube 1 lift distance": 0.0022295079310064025, "cube 2 lift distance": 0.05106500667317859 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8534531780929923, "bimanual_gripper_vertical_difference": 0.02265570200838669, "task_success": 0.0 }, { "completion_time": 1.9209589958190918, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false }, "target_distance": { "block_0-gripper_Left": 0.6072352570225136, "block_0-gripper_Right": 0.10681362452179911, "block_1-gripper_Left": 0.0979950716560949, "block_1-gripper_Right": 0.5959004886998401, "cube 1 lift distance": 0.002438395471124899, "cube 2 lift distance": 0.06897662108185054 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8447790272682949, "bimanual_gripper_vertical_difference": 0.02306086657367298, "task_success": 0.0 }, { "completion_time": 1.9434728622436523, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false }, "target_distance": { "block_0-gripper_Left": 0.5739920815816115, "block_0-gripper_Right": 0.10683208080620567, "block_1-gripper_Left": 0.09792137560166735, "block_1-gripper_Right": 0.5575888261008404, "cube 1 lift distance": 0.0025381133951973833, "cube 2 lift distance": 0.0843316022057321 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8384747992841372, "bimanual_gripper_vertical_difference": 0.023640227221083422, "task_success": 0.0 }, { "completion_time": 1.9699995517730713, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false }, "target_distance": { "block_0-gripper_Left": 0.5465775120387325, "block_0-gripper_Right": 0.10684368484235493, "block_1-gripper_Left": 0.09785500791764351, "block_1-gripper_Right": 0.5246863288537325, "cube 1 lift distance": 0.0025291610750911575, "cube 2 lift distance": 0.09662947019856616 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.830747153299441, "bimanual_gripper_vertical_difference": 0.02435173580200926, "task_success": 0.0 }, { "completion_time": 1.992717981338501, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false }, "target_distance": { "block_0-gripper_Left": 0.5247186738085325, "block_0-gripper_Right": 0.10684666010036147, "block_1-gripper_Left": 0.09772395073189187, "block_1-gripper_Right": 0.49704977221579255, "cube 1 lift distance": 0.0023438131097801573, "cube 2 lift distance": 0.10637126755765447 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8212384928988824, "bimanual_gripper_vertical_difference": 0.025161489095609384, "task_success": 0.0 }, { "completion_time": 2.0157358646392822, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false }, "target_distance": { "block_0-gripper_Left": 0.5074891776323478, "block_0-gripper_Right": 0.10686508856733397, "block_1-gripper_Left": 0.09761400101899659, "block_1-gripper_Right": 0.47402352244681495, "cube 1 lift distance": 0.0022041158182457554, "cube 2 lift distance": 0.1138224976220985 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8137089714620359, "bimanual_gripper_vertical_difference": 0.026038790097755667, "task_success": 0.0 }, { "completion_time": 2.0389366149902344, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false }, "target_distance": { "block_0-gripper_Left": 0.49518483192738194, "block_0-gripper_Right": 0.10687387058243249, "block_1-gripper_Left": 0.09763385163633534, "block_1-gripper_Right": 0.45676391067524724, "cube 1 lift distance": 0.002126585829336003, "cube 2 lift distance": 0.11953380493657417 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8055943382797323, "bimanual_gripper_vertical_difference": 0.026962386936708032, "task_success": 0.0 }, { "completion_time": 2.0619146823883057, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false }, "target_distance": { "block_0-gripper_Left": 0.49119489544503986, "block_0-gripper_Right": 0.10686981885071936, "block_1-gripper_Left": 0.0978525533680652, "block_1-gripper_Right": 0.4486397622717453, "cube 1 lift distance": 0.002158624596254599, "cube 2 lift distance": 0.12466930960298539 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8123023600919411, "bimanual_gripper_vertical_difference": 0.02792432697617243, "task_success": 0.0 }, { "completion_time": 2.0849215984344482, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false }, "target_distance": { "block_0-gripper_Left": 0.4929976188233162, "block_0-gripper_Right": 0.10684274724607948, "block_1-gripper_Left": 0.09811949710385376, "block_1-gripper_Right": 0.4488232619681378, "cube 1 lift distance": 0.0021875494245509053, "cube 2 lift distance": 0.12572836183775382 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8249086098648887, "bimanual_gripper_vertical_difference": 0.028878792521118028, "task_success": 0.0 }, { "completion_time": 2.107872486114502, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false }, "target_distance": { "block_0-gripper_Left": 0.493310745955826, "block_0-gripper_Right": 0.10685261499616973, "block_1-gripper_Left": 0.09807378533555232, "block_1-gripper_Right": 0.4492661731311221, "cube 1 lift distance": 0.0023532390746361376, "cube 2 lift distance": 0.12367456404299282 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8164706975594661, "bimanual_gripper_vertical_difference": 0.029786146412897826, "task_success": 0.0 }, { "completion_time": 2.130826950073242, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false }, "target_distance": { "block_0-gripper_Left": 0.4937232411166441, "block_0-gripper_Right": 0.1068547347747317, "block_1-gripper_Left": 0.09805183842904291, "block_1-gripper_Right": 0.4504838261784182, "cube 1 lift distance": 0.0023736670864162868, "cube 2 lift distance": 0.12156745053217821 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8234271372380046, "bimanual_gripper_vertical_difference": 0.030649032111540776, "task_success": 0.0 }, { "completion_time": 2.1541571617126465, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false }, "target_distance": { "block_0-gripper_Left": 0.49322752454844454, "block_0-gripper_Right": 0.10683541353513461, "block_1-gripper_Left": 0.09801018573108494, "block_1-gripper_Right": 0.45148735850569943, "cube 1 lift distance": 0.0023879028917822565, "cube 2 lift distance": 0.11929610387896594 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8263888991869001, "bimanual_gripper_vertical_difference": 0.03146688139609705, "task_success": 0.0 }, { "completion_time": 2.1776013374328613, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false }, "target_distance": { "block_0-gripper_Left": 0.48601522181853435, "block_0-gripper_Right": 0.10683386060840587, "block_1-gripper_Left": 0.09769872532367235, "block_1-gripper_Right": 0.44510076269764576, "cube 1 lift distance": 0.002441054555479494, "cube 2 lift distance": 0.11708259753785288 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8296757693150333, "bimanual_gripper_vertical_difference": 0.032238428393744176, "task_success": 0.0 }, { "completion_time": 2.2010672092437744, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false }, "target_distance": { "block_0-gripper_Left": 0.4720291190782099, "block_0-gripper_Right": 0.10684757934328602, "block_1-gripper_Left": 0.09763055708052858, "block_1-gripper_Right": 0.43139984650049223, "cube 1 lift distance": 0.0027042669834693722, "cube 2 lift distance": 0.11364661973949941 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.831703916478475, "bimanual_gripper_vertical_difference": 0.03295320960273123, "task_success": 0.0 }, { "completion_time": 2.224439859390259, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false }, "target_distance": { "block_0-gripper_Left": 0.45454623662293975, "block_0-gripper_Right": 0.10686016398403854, "block_1-gripper_Left": 0.09771841873745636, "block_1-gripper_Right": 0.41515334358050615, "cube 1 lift distance": 0.0030301752374055635, "cube 2 lift distance": 0.1069235971453868 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8314543323828569, "bimanual_gripper_vertical_difference": 0.0335797399276644, "task_success": 0.0 }, { "completion_time": 2.2474043369293213, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false }, "target_distance": { "block_0-gripper_Left": 0.4373577446997519, "block_0-gripper_Right": 0.10685979286185984, "block_1-gripper_Left": 0.09790955394699563, "block_1-gripper_Right": 0.4011437464338905, "cube 1 lift distance": 0.003295613322408575, "cube 2 lift distance": 0.09657835718154173 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8238879443848766, "bimanual_gripper_vertical_difference": 0.034084863877176436, "task_success": 0.0 }, { "completion_time": 2.2702667713165283, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false }, "target_distance": { "block_0-gripper_Left": 0.42266460959633423, "block_0-gripper_Right": 0.10684375774587775, "block_1-gripper_Left": 0.0981848549914966, "block_1-gripper_Right": 0.3914435629194801, "cube 1 lift distance": 0.0034963772595102416, "cube 2 lift distance": 0.08345053043976924 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8260287120317835, "bimanual_gripper_vertical_difference": 0.03444514348749673, "task_success": 0.0 }, { "completion_time": 2.2927355766296387, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false }, "target_distance": { "block_0-gripper_Left": 0.41227183533087713, "block_0-gripper_Right": 0.10684466178156836, "block_1-gripper_Left": 0.09832166495311018, "block_1-gripper_Right": 0.3872084887420856, "cube 1 lift distance": 0.0036568986611754672, "cube 2 lift distance": 0.0688617636265112 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8388469667578731, "bimanual_gripper_vertical_difference": 0.034649219926626826, "task_success": 0.0 }, { "completion_time": 2.316188097000122, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false }, "target_distance": { "block_0-gripper_Left": 0.4092676639126969, "block_0-gripper_Right": 0.10685342779324035, "block_1-gripper_Left": 0.09825945720957989, "block_1-gripper_Right": 0.3893116299505553, "cube 1 lift distance": 0.0037271347169581803, "cube 2 lift distance": 0.056665753270900954 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8398136032103343, "bimanual_gripper_vertical_difference": 0.03472478408541463, "task_success": 0.0 }, { "completion_time": 2.340073347091675, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false }, "target_distance": { "block_0-gripper_Left": 0.4118816226656716, "block_0-gripper_Right": 0.10685412743097554, "block_1-gripper_Left": 0.09819252560749739, "block_1-gripper_Right": 0.39526359597966565, "cube 1 lift distance": 0.003728796348761332, "cube 2 lift distance": 0.048914894930384145 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8370532667547113, "bimanual_gripper_vertical_difference": 0.03472054255424398, "task_success": 0.0 }, { "completion_time": 2.3653225898742676, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false }, "target_distance": { "block_0-gripper_Left": 0.415908879981604, "block_0-gripper_Right": 0.10687412274882356, "block_1-gripper_Left": 0.09812176158918706, "block_1-gripper_Right": 0.4015892271162867, "cube 1 lift distance": 0.0036750340845431717, "cube 2 lift distance": 0.044226571283779936 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8404344664412423, "bimanual_gripper_vertical_difference": 0.03466989950014462, "task_success": 0.0 }, { "completion_time": 2.3894197940826416, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false }, "target_distance": { "block_0-gripper_Left": 0.4203471545938315, "block_0-gripper_Right": 0.1068771910835487, "block_1-gripper_Left": 0.10873394428907075, "block_1-gripper_Right": 0.40912135334536187, "cube 1 lift distance": 0.0036176645962665566, "cube 2 lift distance": 0.032235669729449246 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8324752597516759, "bimanual_gripper_vertical_difference": 0.03461040395622906, "task_success": 0.0 }, { "completion_time": 2.413400411605835, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false }, "target_distance": { "block_0-gripper_Left": 0.4256343987887318, "block_0-gripper_Right": 0.10687803007578618, "block_1-gripper_Left": 0.13895476312452404, "block_1-gripper_Right": 0.42136107459311223, "cube 1 lift distance": 0.00358041283919297, "cube 2 lift distance": 0.004548768175118956 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8405251408753351, "bimanual_gripper_vertical_difference": 0.03458320279059026, "task_success": 0.0 }, { "completion_time": 2.436861753463745, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false }, "target_distance": { "block_0-gripper_Left": 0.43135650773474044, "block_0-gripper_Right": 0.10686480335603608, "block_1-gripper_Left": 0.14817453001698536, "block_1-gripper_Right": 0.4220346209364089, "cube 1 lift distance": 0.0038710716393048905, "cube 2 lift distance": 0.004839383074943471 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8470127706205095, "bimanual_gripper_vertical_difference": 0.03463698791632031, "task_success": 0.0 }, { "completion_time": 2.461768627166748, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false }, "target_distance": { "block_0-gripper_Left": 0.4399518650580909, "block_0-gripper_Right": 0.10686419835929042, "block_1-gripper_Left": 0.16178664075543145, "block_1-gripper_Right": 0.4228067306470503, "cube 1 lift distance": 0.004362153675431135, "cube 2 lift distance": 0.005776583710117911 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8596752518268617, "bimanual_gripper_vertical_difference": 0.034819968773835835, "task_success": 0.0 }, { "completion_time": 2.4854378700256348, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false }, "target_distance": { "block_0-gripper_Left": 0.46057253032445483, "block_0-gripper_Right": 0.1068721646282119, "block_1-gripper_Left": 0.18235325545186323, "block_1-gripper_Right": 0.4222049812509487, "cube 1 lift distance": 0.004688170008886106, "cube 2 lift distance": 0.004881811092432686 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8746440703993453, "bimanual_gripper_vertical_difference": 0.03517390381428554, "task_success": 0.0 }, { "completion_time": 2.5096027851104736, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false }, "target_distance": { "block_0-gripper_Left": 0.4923835465755783, "block_0-gripper_Right": 0.10687449220227085, "block_1-gripper_Left": 0.20447650128830006, "block_1-gripper_Right": 0.42237238323606646, "cube 1 lift distance": 0.004628919363123929, "cube 2 lift distance": 0.00027218061564171503 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.889251582583417, "bimanual_gripper_vertical_difference": 0.03564432697066878, "task_success": 0.0 }, { "completion_time": 2.533271312713623, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false }, "target_distance": { "block_0-gripper_Left": 0.5240562100204776, "block_0-gripper_Right": 0.10687016084040094, "block_1-gripper_Left": 0.21693299148541673, "block_1-gripper_Right": 0.4218155708239272, "cube 1 lift distance": 0.004169064664032662, "cube 2 lift distance": 9.387861729570623e-05 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8951653922051981, "bimanual_gripper_vertical_difference": 0.036117262065552935, "task_success": 0.0 }, { "completion_time": 2.5571324825286865, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false }, "target_distance": { "block_0-gripper_Left": 0.5499777270010558, "block_0-gripper_Right": 0.10685665271819426, "block_1-gripper_Left": 0.2233830794049794, "block_1-gripper_Right": 0.42049839867316957, "cube 1 lift distance": 0.003789589473208732, "cube 2 lift distance": 0.00013620467118768964 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9002058201197141, "bimanual_gripper_vertical_difference": 0.036488701118125896, "task_success": 0.0 }, { "completion_time": 2.5829577445983887, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false }, "target_distance": { "block_0-gripper_Left": 0.5701516136061215, "block_0-gripper_Right": 0.1068378770803532, "block_1-gripper_Left": 0.22807301887015938, "block_1-gripper_Right": 0.41757297587427783, "cube 1 lift distance": 0.005000686889841566, "cube 2 lift distance": 0.0001365213290548395 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9085769180756609, "bimanual_gripper_vertical_difference": 0.03668617310185647, "task_success": 0.0 }, { "completion_time": 2.6074984073638916, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false }, "target_distance": { "block_0-gripper_Left": 0.5811840422485192, "block_0-gripper_Right": 0.10681929435002724, "block_1-gripper_Left": 0.23303395651414613, "block_1-gripper_Right": 0.4110020487761324, "cube 1 lift distance": 0.00985461546062305, "cube 2 lift distance": 0.00013653147475389815 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9179852680092533, "bimanual_gripper_vertical_difference": 0.03667482649581856, "task_success": 0.0 }, { "completion_time": 2.631462335586548, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false }, "target_distance": { "block_0-gripper_Left": 0.5803781166904846, "block_0-gripper_Right": 0.10678900739422677, "block_1-gripper_Left": 0.23785418683390205, "block_1-gripper_Right": 0.3995926324344544, "cube 1 lift distance": 0.01926938777257914, "cube 2 lift distance": 0.00013653952962888738 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9272977308249857, "bimanual_gripper_vertical_difference": 0.03644636389805687, "task_success": 0.0 }, { "completion_time": 2.6554996967315674, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false }, "target_distance": { "block_0-gripper_Left": 0.5687575740389624, "block_0-gripper_Right": 0.10677670253633352, "block_1-gripper_Left": 0.24226245264229737, "block_1-gripper_Right": 0.3835525710436586, "cube 1 lift distance": 0.031301274540813884, "cube 2 lift distance": 0.00013654757191350342 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9327028859823836, "bimanual_gripper_vertical_difference": 0.03622385985531467, "task_success": 0.0 }, { "completion_time": 2.679518461227417, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false }, "target_distance": { "block_0-gripper_Left": 0.5484907964730206, "block_0-gripper_Right": 0.10678807763026878, "block_1-gripper_Left": 0.24624333825934422, "block_1-gripper_Right": 0.3624246959155933, "cube 1 lift distance": 0.04234793869261799, "cube 2 lift distance": 0.00013655561579617448 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9334792559373927, "bimanual_gripper_vertical_difference": 0.0361597336536189, "task_success": 0.0 }, { "completion_time": 2.7042012214660645, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false }, "target_distance": { "block_0-gripper_Left": 0.5180682411322814, "block_0-gripper_Right": 0.10678181735933043, "block_1-gripper_Left": 0.2494586189108175, "block_1-gripper_Right": 0.3330973853946027, "cube 1 lift distance": 0.05005778571720221, "cube 2 lift distance": 0.000136563661373712 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9277385153218055, "bimanual_gripper_vertical_difference": 0.03620982719239069, "task_success": 0.0 }, { "completion_time": 2.728670120239258, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false }, "target_distance": { "block_0-gripper_Left": 0.4806571118043268, "block_0-gripper_Right": 0.10669985688867742, "block_1-gripper_Left": 0.2505028088540041, "block_1-gripper_Right": 0.3005309959102222, "cube 1 lift distance": 0.054774475118953836, "cube 2 lift distance": 0.00013657170864733725 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9276464276192996, "bimanual_gripper_vertical_difference": 0.036335508594088683, "task_success": 0.0 }, { "completion_time": 2.7536520957946777, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false }, "target_distance": { "block_0-gripper_Left": 0.4424357934957135, "block_0-gripper_Right": 0.10656313981121418, "block_1-gripper_Left": 0.24882001188521827, "block_1-gripper_Right": 0.2711508770953701, "cube 1 lift distance": 0.0576110714021032, "cube 2 lift distance": 0.00013657975761738328 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9228072455678091, "bimanual_gripper_vertical_difference": 0.0365067627459919, "task_success": 0.0 }, { "completion_time": 2.7784106731414795, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false }, "target_distance": { "block_0-gripper_Left": 0.41798497688844977, "block_0-gripper_Right": 0.10658540377339958, "block_1-gripper_Left": 0.24611275300016858, "block_1-gripper_Right": 0.25479071861032554, "cube 1 lift distance": 0.05951162229632967, "cube 2 lift distance": 0.00013658780828418315 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9216678622672103, "bimanual_gripper_vertical_difference": 0.036710080670507385, "task_success": 0.0 }, { "completion_time": 2.802971839904785, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false }, "target_distance": { "block_0-gripper_Left": 0.4143815595059278, "block_0-gripper_Right": 0.10680502643658846, "block_1-gripper_Left": 0.24526970375707635, "block_1-gripper_Right": 0.2504548499869792, "cube 1 lift distance": 0.05719759811659442, "cube 2 lift distance": 0.00013659586064818097 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9175231181552965, "bimanual_gripper_vertical_difference": 0.036905683538573236, "task_success": 0.0 }, { "completion_time": 2.827997922897339, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false }, "target_distance": { "block_0-gripper_Left": 0.41681554776020613, "block_0-gripper_Right": 0.1067899380047029, "block_1-gripper_Left": 0.24492674554917657, "block_1-gripper_Right": 0.25050021551947055, "cube 1 lift distance": 0.05503890724370408, "cube 2 lift distance": 0.00013660391470970978 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9103627418363301, "bimanual_gripper_vertical_difference": 0.03708842381148079, "task_success": 0.0 }, { "completion_time": 2.855419874191284, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false }, "target_distance": { "block_0-gripper_Left": 0.4185927471539176, "block_0-gripper_Right": 0.10677964796591193, "block_1-gripper_Left": 0.24471734207329165, "block_1-gripper_Right": 0.25072517766618946, "cube 1 lift distance": 0.053633781967892036, "cube 2 lift distance": 0.00013661197046910267 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.90303440428037, "bimanual_gripper_vertical_difference": 0.0372618822789053, "task_success": 0.0 }, { "completion_time": 2.8797316551208496, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false }, "target_distance": { "block_0-gripper_Left": 0.41772765071393353, "block_0-gripper_Right": 0.10680839147614758, "block_1-gripper_Left": 0.24357741656390913, "block_1-gripper_Right": 0.24832692739474732, "cube 1 lift distance": 0.050425442126702746, "cube 2 lift distance": 0.00013662002792658168 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.897584683752237, "bimanual_gripper_vertical_difference": 0.0374180439785596, "task_success": 0.0 }, { "completion_time": 2.9045612812042236, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false }, "target_distance": { "block_0-gripper_Left": 0.3989564828150994, "block_0-gripper_Right": 0.10651985065380315, "block_1-gripper_Left": 0.2385611968457855, "block_1-gripper_Right": 0.23481710922666915, "cube 1 lift distance": 0.04600743409834718, "cube 2 lift distance": 0.00013662808708281293 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8993392506198473, "bimanual_gripper_vertical_difference": 0.03754181498878086, "task_success": 0.0 }, { "completion_time": 2.929443359375, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false }, "target_distance": { "block_0-gripper_Left": 0.37016689364577016, "block_0-gripper_Right": 0.10629536437705543, "block_1-gripper_Left": 0.23384794022265473, "block_1-gripper_Right": 0.21642775342656348, "cube 1 lift distance": 0.04479161695766454, "cube 2 lift distance": 0.00013663614793790746 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.902249586345079, "bimanual_gripper_vertical_difference": 0.03764838299689459, "task_success": 0.0 }, { "completion_time": 2.9547688961029053, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false }, "target_distance": { "block_0-gripper_Left": 0.34007429274408113, "block_0-gripper_Right": 0.10620156240494805, "block_1-gripper_Left": 0.2302300274843387, "block_1-gripper_Right": 0.2018181802956979, "cube 1 lift distance": 0.04847227334558979, "cube 2 lift distance": 0.00013664421049219833 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9058611574600783, "bimanual_gripper_vertical_difference": 0.03777717624627075, "task_success": 0.0 }, { "completion_time": 2.9791133403778076, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false }, "target_distance": { "block_0-gripper_Left": 0.31370841385448317, "block_0-gripper_Right": 0.10620808726883064, "block_1-gripper_Left": 0.22796671083529751, "block_1-gripper_Right": 0.1924113434039269, "cube 1 lift distance": 0.054009215243342235, "cube 2 lift distance": 0.00013665227474635167 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9103286145022762, "bimanual_gripper_vertical_difference": 0.037947349718138505, "task_success": 0.0 }, { "completion_time": 3.003756046295166, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false }, "target_distance": { "block_0-gripper_Left": 0.29361153206473317, "block_0-gripper_Right": 0.10628499198720225, "block_1-gripper_Left": 0.2276341767648038, "block_1-gripper_Right": 0.18722288746812926, "cube 1 lift distance": 0.059394397721746595, "cube 2 lift distance": 0.00013666034070036748 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9127017448927625, "bimanual_gripper_vertical_difference": 0.038161528660361106, "task_success": 0.0 }, { "completion_time": 3.027916431427002, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false }, "target_distance": { "block_0-gripper_Left": 0.27976989910912925, "block_0-gripper_Right": 0.1063918344203577, "block_1-gripper_Left": 0.229730986005806, "block_1-gripper_Right": 0.18336063826767715, "cube 1 lift distance": 0.0627250038697349, "cube 2 lift distance": 0.00013666840835480087 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9114561901302072, "bimanual_gripper_vertical_difference": 0.03840562919449306, "task_success": 0.0 }, { "completion_time": 3.052499771118164, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false }, "target_distance": { "block_0-gripper_Left": 0.27037341230996786, "block_0-gripper_Right": 0.10644872456084525, "block_1-gripper_Left": 0.2341130194405456, "block_1-gripper_Right": 0.17909289626403588, "cube 1 lift distance": 0.06366137698460905, "cube 2 lift distance": 0.00013667647770998492 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.908935712766065, "bimanual_gripper_vertical_difference": 0.03866251807505712, "task_success": 0.0 }, { "completion_time": 3.080618381500244, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false }, "target_distance": { "block_0-gripper_Left": 0.2612651530173135, "block_0-gripper_Right": 0.10642095879247236, "block_1-gripper_Left": 0.23852422175192456, "block_1-gripper_Right": 0.17466346615533895, "cube 1 lift distance": 0.06315200744243299, "cube 2 lift distance": 0.0001366845487663637 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9067083343405555, "bimanual_gripper_vertical_difference": 0.038913640316960194, "task_success": 0.0 }, { "completion_time": 3.1051881313323975, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false }, "target_distance": { "block_0-gripper_Left": 0.2516853172537816, "block_0-gripper_Right": 0.1063638880344181, "block_1-gripper_Left": 0.24328236499772354, "block_1-gripper_Right": 0.16953706713129912, "cube 1 lift distance": 0.06082448112624528, "cube 2 lift distance": 0.00013669262152404826 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9056256036768288, "bimanual_gripper_vertical_difference": 0.039142185002450675, "task_success": 0.0 }, { "completion_time": 3.1298017501831055, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false }, "target_distance": { "block_0-gripper_Left": 0.2434476751046486, "block_0-gripper_Right": 0.10642897022874939, "block_1-gripper_Left": 0.24711910677437607, "block_1-gripper_Right": 0.1641695814276673, "cube 1 lift distance": 0.05670238161910324, "cube 2 lift distance": 0.0001367006959835937 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9044166006854917, "bimanual_gripper_vertical_difference": 0.03933627184565838, "task_success": 0.0 }, { "completion_time": 3.1546707153320312, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false }, "target_distance": { "block_0-gripper_Left": 0.23691587602038552, "block_0-gripper_Right": 0.10649682211633603, "block_1-gripper_Left": 0.2493368305330705, "block_1-gripper_Right": 0.15954209696427146, "cube 1 lift distance": 0.05227281840046616, "cube 2 lift distance": 0.00013670877214533306 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.9022001479420065, "bimanual_gripper_vertical_difference": 0.03949505545776243, "task_success": 0.0 }, { "completion_time": 3.179245710372925, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false }, "target_distance": { "block_0-gripper_Left": 0.23214333399509787, "block_0-gripper_Right": 0.10655558256468489, "block_1-gripper_Left": 0.2504406219946946, "block_1-gripper_Right": 0.1561628965877436, "cube 1 lift distance": 0.04862350600806398, "cube 2 lift distance": 0.00013671685000959943 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8987406635246058, "bimanual_gripper_vertical_difference": 0.03962497789827, "task_success": 0.0 }, { "completion_time": 3.204598903656006, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false }, "target_distance": { "block_0-gripper_Left": 0.22949808646510692, "block_0-gripper_Right": 0.10662436486857678, "block_1-gripper_Left": 0.25122894481182745, "block_1-gripper_Right": 0.15397606871152958, "cube 1 lift distance": 0.04612148294660212, "cube 2 lift distance": 0.00013672492957694793 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8939507201498883, "bimanual_gripper_vertical_difference": 0.03973510877981538, "task_success": 0.0 }, { "completion_time": 3.228861093521118, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false }, "target_distance": { "block_0-gripper_Left": 0.22848309627147537, "block_0-gripper_Right": 0.10667171816563242, "block_1-gripper_Left": 0.251893851785217, "block_1-gripper_Right": 0.1531226089777837, "cube 1 lift distance": 0.04513175950302162, "cube 2 lift distance": 0.00013673301084737854 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.888052751854405, "bimanual_gripper_vertical_difference": 0.039836730893359984, "task_success": 0.0 }, { "completion_time": 3.2539288997650146, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false }, "target_distance": { "block_0-gripper_Left": 0.22866707531979288, "block_0-gripper_Right": 0.10670917785389285, "block_1-gripper_Left": 0.25250234328636895, "block_1-gripper_Right": 0.15276200263658435, "cube 1 lift distance": 0.04472836076511433, "cube 2 lift distance": 0.0001367410938215574 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8817610198006766, "bimanual_gripper_vertical_difference": 0.039934143311941214, "task_success": 0.0 }, { "completion_time": 3.2781825065612793, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false }, "target_distance": { "block_0-gripper_Left": 0.2300176008321178, "block_0-gripper_Right": 0.10675549204360325, "block_1-gripper_Left": 0.25298298074264036, "block_1-gripper_Right": 0.15198907638984355, "cube 1 lift distance": 0.04397297091461749, "cube 2 lift distance": 0.00013674917849970658 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8760601172814738, "bimanual_gripper_vertical_difference": 0.04002501885043387, "task_success": 0.0 }, { "completion_time": 3.303213596343994, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": false }, "target_distance": { "block_0-gripper_Left": 0.23207438888016918, "block_0-gripper_Right": 0.10674550964166825, "block_1-gripper_Left": 0.2535234684709798, "block_1-gripper_Right": 0.15119347237679, "cube 1 lift distance": 0.043152343387126146, "cube 2 lift distance": 0.00010210271157096162 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8713109092400797, "bimanual_gripper_vertical_difference": 0.04010852172547805, "task_success": 0.0 }, { "completion_time": 3.3275320529937744, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 1, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": true }, "target_distance": { "block_0-gripper_Left": 0.233768172415957, "block_0-gripper_Right": 0.10674568646934991, "block_1-gripper_Left": 0.2542543843233075, "block_1-gripper_Right": 0.1511528839100695, "cube 1 lift distance": 0.04314660091484046, "cube 2 lift distance": 0.00013358257806761475 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8673930792948694, "bimanual_gripper_vertical_difference": 0.040190648782955855, "task_success": 0.0 }, { "completion_time": 3.3554227352142334, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": true }, "target_distance": { "block_0-gripper_Left": 0.23579221035482695, "block_0-gripper_Right": 0.10673469690599602, "block_1-gripper_Left": 0.254843697819496, "block_1-gripper_Right": 0.15111852747185894, "cube 1 lift distance": 0.04304028048776809, "cube 2 lift distance": 0.00011999075230217926 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8626922238431558, "bimanual_gripper_vertical_difference": 0.04027073157593607, "task_success": 0.0 }, { "completion_time": 3.380079984664917, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": true }, "target_distance": { "block_0-gripper_Left": 0.23743812767812272, "block_0-gripper_Right": 0.10672237334676252, "block_1-gripper_Left": 0.25523336170657823, "block_1-gripper_Right": 0.15110298422286358, "cube 1 lift distance": 0.04288007488214651, "cube 2 lift distance": 8.867873371876112e-05 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8573614087328219, "bimanual_gripper_vertical_difference": 0.04034894126918238, "task_success": 0.0 }, { "completion_time": 3.4048032760620117, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": true }, "target_distance": { "block_0-gripper_Left": 0.23891104998397591, "block_0-gripper_Right": 0.10671998183453069, "block_1-gripper_Left": 0.2557325376864299, "block_1-gripper_Right": 0.1510180047137954, "cube 1 lift distance": 0.04269240790766915, "cube 2 lift distance": 0.00012032795085570314 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8519523188707349, "bimanual_gripper_vertical_difference": 0.04042497182625269, "task_success": 0.0 }, { "completion_time": 3.43003249168396, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": true }, "target_distance": { "block_0-gripper_Left": 0.2402184206350697, "block_0-gripper_Right": 0.10672290002849155, "block_1-gripper_Left": 0.25622382916989883, "block_1-gripper_Right": 0.1510210578960949, "cube 1 lift distance": 0.04258196171859474, "cube 2 lift distance": 0.0001290265276842062 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8463564613528933, "bimanual_gripper_vertical_difference": 0.040499336486432204, "task_success": 0.0 }, { "completion_time": 3.455415964126587, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": true }, "target_distance": { "block_0-gripper_Left": 0.24187870351205643, "block_0-gripper_Right": 0.10670878495938005, "block_1-gripper_Left": 0.25663375069319166, "block_1-gripper_Right": 0.1510056920995483, "cube 1 lift distance": 0.04241195075681281, "cube 2 lift distance": 0.00018845975209147436 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8409118240742118, "bimanual_gripper_vertical_difference": 0.040571549202988826, "task_success": 0.0 }, { "completion_time": 3.4797351360321045, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": true }, "target_distance": { "block_0-gripper_Left": 0.24399310732097323, "block_0-gripper_Right": 0.10670644515094867, "block_1-gripper_Left": 0.2568059866426037, "block_1-gripper_Right": 0.15111268197164882, "cube 1 lift distance": 0.04207691323425822, "cube 2 lift distance": 0.00012099106820118166 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8356665833659135, "bimanual_gripper_vertical_difference": 0.040640622450501325, "task_success": 0.0 }, { "completion_time": 3.504884958267212, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": true }, "target_distance": { "block_0-gripper_Left": 0.24576014341680283, "block_0-gripper_Right": 0.10668828025958589, "block_1-gripper_Left": 0.2568663309111475, "block_1-gripper_Right": 0.15131991336512826, "cube 1 lift distance": 0.04197255319564164, "cube 2 lift distance": 0.00013508860947775148 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8306701749905169, "bimanual_gripper_vertical_difference": 0.04070801301004278, "task_success": 0.0 }, { "completion_time": 3.5299324989318848, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": true }, "target_distance": { "block_0-gripper_Left": 0.24581116523779875, "block_0-gripper_Right": 0.10667921585729775, "block_1-gripper_Left": 0.2568486633254209, "block_1-gripper_Right": 0.152028804063666, "cube 1 lift distance": 0.04271287976622018, "cube 2 lift distance": 0.00013578611122833095 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8259632085220806, "bimanual_gripper_vertical_difference": 0.040779440764079015, "task_success": 0.0 }, { "completion_time": 3.554781436920166, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": true }, "target_distance": { "block_0-gripper_Left": 0.24497850978555058, "block_0-gripper_Right": 0.1066897124764347, "block_1-gripper_Left": 0.2569505264134103, "block_1-gripper_Right": 0.15277861043757915, "cube 1 lift distance": 0.0436631504910554, "cube 2 lift distance": 0.0001357986554849644 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8210933805900394, "bimanual_gripper_vertical_difference": 0.04085614135960742, "task_success": 0.0 }, { "completion_time": 3.579146146774292, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": true }, "target_distance": { "block_0-gripper_Left": 0.24400870210257627, "block_0-gripper_Right": 0.10670301983588822, "block_1-gripper_Left": 0.2569230378044435, "block_1-gripper_Right": 0.15328253001298314, "cube 1 lift distance": 0.04438949778993018, "cube 2 lift distance": 0.0001358065252419216 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8162677200189561, "bimanual_gripper_vertical_difference": 0.04093670788034711, "task_success": 0.0 }, { "completion_time": 3.603729009628296, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": true }, "target_distance": { "block_0-gripper_Left": 0.24323700641075935, "block_0-gripper_Right": 0.10670398420853171, "block_1-gripper_Left": 0.2568153306069479, "block_1-gripper_Right": 0.15387736807029295, "cube 1 lift distance": 0.045178137149249675, "cube 2 lift distance": 0.00013581436472775987 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.8113097543553759, "bimanual_gripper_vertical_difference": 0.04102133623750895, "task_success": 0.0 }, { "completion_time": 3.6281070709228516, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": true }, "target_distance": { "block_0-gripper_Left": 0.24294144151326896, "block_0-gripper_Right": 0.10671817805530981, "block_1-gripper_Left": 0.25672337146164204, "block_1-gripper_Right": 0.15427804303256865, "cube 1 lift distance": 0.045704346606973534, "cube 2 lift distance": 0.00013582220564822833 }, "success": 0.0, "bimanual_arm_velocity_difference": 0.806109532916642, "bimanual_gripper_vertical_difference": 0.04110820580669194, "task_success": 0.0 }, { "completion_time": 3.6516356468200684, "slip_count": 0, "slip_count_per_object": { "object_1": 0, "object_2": 0 }, "env_collision_count": 2, "self_collision_count": 0, "task_stage_reached": { "1": true, "2": true, "3": true }, "target_distance": { "block_0-gripper_Left": 0.24497184009080508, "block_0-gripper_Right": 0.11249676107267309, "block_1-gripper_Left": 0.25651064799042184, "block_1-gripper_Right": 0.1553873811174553, "cube 1 lift distance": 0.041219265081667844, "cube 2 lift distance": 0.00023926445661925921 }, "success": 1.0, "bimanual_arm_velocity_difference": 0.8014269976849968, "bimanual_gripper_vertical_difference": 0.04120233036378376, "task_success": 1.0 } ]