halt_metadata_ep12.json

{
  "episode_idx": 12,
  "halt_reason": "task_success",
  "halt_step": 140,
  "advantage_threshold": -0.1,
  "v_drop_consecutive_steps": 100,
  "max_episode_steps": 800,
  "final_advantage": 0.0013093948364257812,
  "final_v_value": 1.005697250366211,
  "final_q_value": 1.0070066452026367,
  "halt_robot_state": {
    "eef_pos": [
      0.16692824269249165,
      0.10493082129317653,
      0.9486132979152869
    ],
    "eef_quat": [
      0.9942861310926046,
      -0.048053988671549135,
      0.09137076794557594,
      -0.02715301925549222
    ],
    "gripper_qpos": [
      0.02680077512886683,
      -0.0265697914936634
    ]
  },
  "halt_environment_state": [
    0.04670877126004297,
    0.0019960470109061657,
    0.08718993357760174,
    0.03444313257932663,
    0.9960651993751526,
    -0.00229467311874032,
    0.08162514865398407,
    0.2264681837613356,
    0.10314776231274388,
    0.8208337799185679,
    -0.0025461585798552838,
    -0.004493570553223782,
    0.9999328309699338,
    0.010375858934234403
  ]
}