halt_metadata_ep132.json

{
  "episode_idx": 132,
  "halt_reason": "v_drop_consecutive",
  "halt_step": 193,
  "advantage_threshold": -0.1,
  "v_drop_consecutive_steps": 100,
  "max_episode_steps": 800,
  "final_advantage": 0.05909338593482971,
  "final_v_value": 0.2834489047527313,
  "final_q_value": 0.34254229068756104,
  "halt_robot_state": {
    "eef_pos": [
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      0.096724814346281,
      0.8397224874835009
    ],
    "eef_quat": [
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      -0.8508669391413898,
      -0.007327965898203681,
      0.016599421658663575
    ],
    "gripper_qpos": [
      0.03547198811304271,
      -0.03374195417901641
    ]
  },
  "halt_environment_state": [
    -0.05679685537519019,
    0.01617375456979875,
    -0.02272977911831575,
    -0.9149866104125977,
    0.15967850387096405,
    -0.16672034561634064,
    0.3309178352355957,
    -0.13196664738420397,
    0.15485056244200265,
    0.8615700016354992,
    -0.30081784427082364,
    0.18437019493789228,
    0.7000689873311123,
    -0.6208217689192356
  ]
}