halt_metadata_ep121.json

{
  "episode_idx": 121,
  "halt_reason": "v_drop_consecutive",
  "halt_step": 224,
  "advantage_threshold": -0.1,
  "v_drop_consecutive_steps": 100,
  "max_episode_steps": 800,
  "final_advantage": -0.02408018708229065,
  "final_v_value": 0.5107234120368958,
  "final_q_value": 0.4866432249546051,
  "halt_robot_state": {
    "eef_pos": [
      -0.10474735261683507,
      0.10310076081579,
      0.8293676737090251
    ],
    "eef_quat": [
      0.6193624351627245,
      -0.7849069752134243,
      -0.010433582984132186,
      -0.014225136791086383
    ],
    "gripper_qpos": [
      0.015916262266298095,
      -0.014295892326135932
    ]
  },
  "halt_environment_state": [
    -0.05953558584004026,
    0.0009519686070538214,
    0.0010586695131842294,
    -0.9998916983604431,
    0.0011100758565589786,
    0.014677174389362335,
    8.291783160530031e-05,
    -0.09183015286451089,
    0.16122797733944905,
    0.8303786151944649,
    -0.0027190472552888097,
    -0.0013102228684238365,
    0.7843090057123431,
    -0.620363017640941
  ]
}