halt_metadata_ep127.json

{
  "episode_idx": 127,
  "halt_reason": "task_success",
  "halt_step": 186,
  "advantage_threshold": -0.1,
  "v_drop_consecutive_steps": 100,
  "max_episode_steps": 800,
  "final_advantage": -0.005196094512939453,
  "final_v_value": 1.0053119659423828,
  "final_q_value": 1.0001158714294434,
  "halt_robot_state": {
    "eef_pos": [
      0.23200719556285954,
      0.16551548555417986,
      0.9429245190765532
    ],
    "eef_quat": [
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      0.6846730595691903,
      0.018815521096524426,
      0.1194884361665357
    ],
    "gripper_qpos": [
      0.02551028736778355,
      -0.025962895147834994
    ]
  },
  "halt_environment_state": [
    -0.05702211983177852,
    -0.007104856926261616,
    0.06223350785602566,
    -0.9999499320983887,
    0.008479075506329536,
    -0.00026336961309425533,
    0.005297953262925148,
    0.23445213743737237,
    0.09710735387992855,
    0.8324754522973852,
    -0.07408913745155007,
    -0.0073150096917567724,
    0.6946300648142649,
    0.7155042721053633
  ]
}