halt_metadata_ep135.json

{
  "episode_idx": 135,
  "halt_reason": "v_drop_consecutive",
  "halt_step": 149,
  "advantage_threshold": -0.1,
  "v_drop_consecutive_steps": 100,
  "max_episode_steps": 800,
  "final_advantage": 0.05220797657966614,
  "final_v_value": 0.3733225464820862,
  "final_q_value": 0.4255305230617523,
  "halt_robot_state": {
    "eef_pos": [
      -0.06494558937063498,
      0.10289358634139902,
      0.8341673932535176
    ],
    "eef_quat": [
      0.9816417480026383,
      -0.18496893433812436,
      0.04594499461231127,
      -0.007418178901636996
    ],
    "gripper_qpos": [
      0.029870782584276712,
      -0.028297280612222798
    ]
  },
  "halt_environment_state": [
    -0.05113577308185291,
    -0.009859377340696751,
    -0.000427472343713986,
    0.9985727071762085,
    -0.030742617323994637,
    0.04302675649523735,
    0.007489711046218872,
    -0.10882410787197336,
    0.13064861630850802,
    0.8303927781626903,
    -0.006567104178957053,
    0.0024834743425547977,
    0.15466658840326228,
    -0.9879417755766727
  ]
}