halt_metadata_ep118.json

{
  "episode_idx": 118,
  "halt_reason": "v_drop_consecutive",
  "halt_step": 170,
  "advantage_threshold": -0.1,
  "v_drop_consecutive_steps": 100,
  "max_episode_steps": 800,
  "final_advantage": -0.02283671498298645,
  "final_v_value": 0.41039299964904785,
  "final_q_value": 0.3875562846660614,
  "halt_robot_state": {
    "eef_pos": [
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      0.22713760718557915,
      0.8297731799986862
    ],
    "eef_quat": [
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      -0.007902318685626374,
      0.08237438873399087,
      0.0019172843370409338
    ],
    "gripper_qpos": [
      0.03986422724347722,
      -0.040237697398283645
    ]
  },
  "halt_environment_state": [
    0.08867224525064432,
    0.04694342784889327,
    0.01388422326108063,
    -0.11460093408823013,
    0.9903507828712463,
    -0.0016085265669971704,
    0.07790645211935043,
    -0.09955834957085856,
    0.17874488341860675,
    0.8307173749412649,
    -0.004139864447496432,
    -0.007075385975359287,
    0.992455261266622,
    0.12233296701975682
  ]
}