{
  "episode_idx": 108,
  "halt_reason": "task_success",
  "halt_step": 221,
  "advantage_threshold": -0.1,
  "v_drop_consecutive_steps": 100,
  "max_episode_steps": 800,
  "final_advantage": -0.005366325378417969,
  "final_v_value": 1.0042022466659546,
  "final_q_value": 0.9988359212875366,
  "halt_robot_state": {
    "eef_pos": [
      0.214253677512417,
      0.033174672185816684,
      0.9345081978315886
    ],
    "eef_quat": [
      0.6586547057140437,
      -0.7493996521591796,
      0.06175412732931361,
      0.0275783926696476
    ],
    "gripper_qpos": [
      0.022326882668777744,
      -0.022297303313695047
    ]
  },
  "halt_environment_state": [
    -0.06985207349431732,
    -0.003868413639400714,
    0.023040504644423088,
    -0.9991174936294556,
    -0.00711548887193203,
    -0.0374622568488121,
    0.01761227287352085,
    0.22977955865912283,
    0.09815687287561722,
    0.8549712411813164,
    -0.013057451084356868,
    0.05077409461765018,
    0.7536186879356724,
    -0.6552178015599498
  ]
}