{
  "episode_idx": 109,
  "halt_reason": "v_drop_consecutive",
  "halt_step": 127,
  "advantage_threshold": -0.1,
  "v_drop_consecutive_steps": 100,
  "max_episode_steps": 800,
  "final_advantage": 0.03520914912223816,
  "final_v_value": 0.4081544876098633,
  "final_q_value": 0.44336363673210144,
  "halt_robot_state": {
    "eef_pos": [
      -0.19095766282190726,
      0.25408911536368456,
      0.829654688205816
    ],
    "eef_quat": [
      0.967810898047975,
      -0.24683590384452886,
      0.0475237897129965,
      0.012473636363934126
    ],
    "gripper_qpos": [
      0.03928177578956087,
      -0.040051454070276896
    ]
  },
  "halt_environment_state": [
    0.08365026079940208,
    -0.010503710207443895,
    0.00791673472615062,
    -0.025951344519853592,
    0.9984551072120667,
    -0.0009348099119961262,
    0.04912351444363594,
    -0.11216811956908755,
    0.22306540291800328,
    0.8299789458594852,
    -1.0691228555532058e-06,
    3.0246827894649604e-07,
    0.9622328462292736,
    0.2722277532440028
  ]
}