halt_metadata_ep123.json

{
  "episode_idx": 123,
  "halt_reason": "v_drop_consecutive",
  "halt_step": 133,
  "advantage_threshold": -0.1,
  "v_drop_consecutive_steps": 100,
  "max_episode_steps": 800,
  "final_advantage": 0.0035952627658843994,
  "final_v_value": 0.4519011378288269,
  "final_q_value": 0.4554964005947113,
  "halt_robot_state": {
    "eef_pos": [
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      0.13518775157560547,
      0.834197225347015
    ],
    "eef_quat": [
      0.9847352184798286,
      0.16266379827218405,
      0.05201205328971325,
      0.03364200543572635
    ],
    "gripper_qpos": [
      0.037978238491420235,
      -0.039111539603440014
    ]
  },
  "halt_environment_state": [
    0.07761946417949517,
    0.0064893072410274755,
    0.011951286107484083,
    0.0035180216655135155,
    0.9980734586715698,
    0.041830260306596756,
    0.04568549990653992,
    -0.11714555153481056,
    0.15360483774415354,
    0.8299789458594815,
    -1.095584981030726e-06,
    -1.8494401685288012e-07,
    0.9860493105102587,
    -0.16645346869623778
  ]
}