halt_metadata_ep10.json

{
  "episode_idx": 10,
  "halt_reason": "v_drop_consecutive",
  "halt_step": 138,
  "advantage_threshold": -0.1,
  "v_drop_consecutive_steps": 100,
  "max_episode_steps": 800,
  "final_advantage": -0.06389182806015015,
  "final_v_value": 0.45536214113235474,
  "final_q_value": 0.3914703130722046,
  "halt_robot_state": {
    "eef_pos": [
      -0.19934657975713954,
      0.11777398628531364,
      0.8292897827908615
    ],
    "eef_quat": [
      0.9886330615923999,
      0.14976067947384814,
      0.012877927064602092,
      0.003250754448813991
    ],
    "gripper_qpos": [
      0.03997438536348914,
      -0.03667803930165308
    ]
  },
  "halt_environment_state": [
    0.08772011018181125,
    0.010692164557873918,
    0.0015695862844554709,
    0.010999134741723537,
    0.9998512268066406,
    0.00527728907763958,
    0.012187357991933823,
    -0.11238366669489411,
    0.13354036517309242,
    0.8299789458594851,
    -1.0966556408101536e-06,
    -1.7848570113382104e-07,
    0.9870129266196915,
    -0.16064084998653183
  ]
}