halt_metadata_ep116.json

{
  "episode_idx": 116,
  "halt_reason": "v_drop_consecutive",
  "halt_step": 202,
  "advantage_threshold": -0.1,
  "v_drop_consecutive_steps": 100,
  "max_episode_steps": 800,
  "final_advantage": 0.0534193217754364,
  "final_v_value": 0.42844581604003906,
  "final_q_value": 0.48186513781547546,
  "halt_robot_state": {
    "eef_pos": [
      -0.09579987405295583,
      0.15253683327587192,
      0.8305019475255325
    ],
    "eef_quat": [
      0.9810270280894994,
      -0.17633315063432664,
      0.08036425987669074,
      0.005846014003279111
    ],
    "gripper_qpos": [
      0.040141829422163176,
      -0.03982549380870575
    ]
  },
  "halt_environment_state": [
    -0.05277945739912093,
    0.004636854729661466,
    -0.008077406354870198,
    0.9965704083442688,
    0.01838148757815361,
    0.08012751489877701,
    0.009441765956580639,
    -0.14748567420470923,
    0.1667211556336747,
    0.829979765010416,
    -0.0005677717304728225,
    6.674566977324957e-05,
    0.19497467132224153,
    -0.9808081110610075
  ]
}