halt_metadata_ep134.json

{
  "episode_idx": 134,
  "halt_reason": "v_drop_consecutive",
  "halt_step": 216,
  "advantage_threshold": -0.1,
  "v_drop_consecutive_steps": 100,
  "max_episode_steps": 800,
  "final_advantage": -0.01293906569480896,
  "final_v_value": 0.46144425868988037,
  "final_q_value": 0.4485051929950714,
  "halt_robot_state": {
    "eef_pos": [
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      0.1896561608666265,
      0.8316732723517093
    ],
    "eef_quat": [
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      0.03778535143774474,
      0.057900119689428646,
      0.008004571138465588
    ],
    "gripper_qpos": [
      0.03988795547968654,
      -0.03999622235760209
    ]
  },
  "halt_environment_state": [
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    0.01387112663628065,
    0.008269660025264192,
    -0.08203335851430893,
    0.9949805736541748,
    0.008454461582005024,
    0.05667929723858833,
    -0.03175841594893667,
    0.1797092800805727,
    0.8302282694324913,
    -0.0002931982258210914,
    -0.002510607535498742,
    0.9990805019273635,
    0.04279908355527511
  ]
}