halt_metadata_ep112.json

{
  "episode_idx": 112,
  "halt_reason": "v_drop_consecutive",
  "halt_step": 373,
  "advantage_threshold": -0.1,
  "v_drop_consecutive_steps": 100,
  "max_episode_steps": 800,
  "final_advantage": 0.011638760566711426,
  "final_v_value": 0.6625312566757202,
  "final_q_value": 0.6741700172424316,
  "halt_robot_state": {
    "eef_pos": [
      0.22312190666803222,
      0.007928080008388091,
      0.9632366738520239
    ],
    "eef_quat": [
      0.7500277007324923,
      -0.6556062698776076,
      0.08738356721501812,
      -0.0017260393615709528
    ],
    "gripper_qpos": [
      0.017625778022141398,
      -0.01710544413929991
    ]
  },
  "halt_environment_state": [
    -0.06330953899990893,
    -0.021462213817199816,
    -0.0057515464385380355,
    0.9866822957992554,
    0.158065065741539,
    0.02887323684990406,
    0.025297587737441063,
    0.23527116836403908,
    0.07378897959607598,
    0.963274224578153,
    -0.015181084872128988,
    0.04794240847045884,
    0.7673838600865792,
    -0.6392128529768304
  ]
}