halt_metadata_ep115.json

{
  "episode_idx": 115,
  "halt_reason": "v_drop_consecutive",
  "halt_step": 415,
  "advantage_threshold": -0.1,
  "v_drop_consecutive_steps": 100,
  "max_episode_steps": 800,
  "final_advantage": -0.03343302011489868,
  "final_v_value": 0.8215880990028381,
  "final_q_value": 0.7881550788879395,
  "halt_robot_state": {
    "eef_pos": [
      0.1858857700926784,
      0.09019179372684213,
      0.9271625923033981
    ],
    "eef_quat": [
      0.9936838616780833,
      -0.02588340813060167,
      0.10875528712333446,
      0.009732407040278005
    ],
    "gripper_qpos": [
      0.039982856502556105,
      -0.04005758794219163
    ]
  },
  "halt_environment_state": [
    0.045408436903605076,
    -0.006799410939265893,
    0.0036424773746631667,
    0.03198524937033653,
    -0.9865447878837585,
    -0.03355279564857483,
    0.15678268671035767,
    0.23180517976073936,
    0.09462972897915856,
    0.933281843681577,
    -0.2643636456863269,
    -0.023269572037930404,
    0.9627653137795282,
    0.051510585704421886
  ]
}