halt_metadata_ep117.json

{
  "episode_idx": 117,
  "halt_reason": "v_drop_consecutive",
  "halt_step": 174,
  "advantage_threshold": -0.1,
  "v_drop_consecutive_steps": 100,
  "max_episode_steps": 800,
  "final_advantage": -0.02116924524307251,
  "final_v_value": 0.39191973209381104,
  "final_q_value": 0.3707504868507385,
  "halt_robot_state": {
    "eef_pos": [
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      0.1431723498755267,
      0.8298193172409292
    ],
    "eef_quat": [
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      0.10928308427967547,
      0.004751442792494541
    ],
    "gripper_qpos": [
      0.04003872839983793,
      -0.03793294230312243
    ]
  },
  "halt_environment_state": [
    0.09048018792998658,
    0.008515215251200359,
    0.01998977149374992,
    -0.011916360817849636,
    0.9939279556274414,
    -0.0015902615850791335,
    0.10937365144491196,
    -0.1133948344478841,
    0.1261856319196598,
    0.8299789458594851,
    -1.1092177514074462e-06,
    6.43950308143823e-08,
    0.9983190879096254,
    0.057956869429409565
  ]
}