{
  "episode_idx": 106,
  "halt_reason": "task_success",
  "halt_step": 250,
  "advantage_threshold": -0.1,
  "v_drop_consecutive_steps": 100,
  "max_episode_steps": 800,
  "final_advantage": -0.01784336566925049,
  "final_v_value": 1.0019621849060059,
  "final_q_value": 0.9841188192367554,
  "halt_robot_state": {
    "eef_pos": [
      0.1539091580527242,
      0.0978685650573458,
      0.9176101439392856
    ],
    "eef_quat": [
      0.9842522028873449,
      -0.011115831818994639,
      0.17536145128447025,
      0.019297688923382256
    ],
    "gripper_qpos": [
      0.02570633782925103,
      -0.0257721050522255
    ]
  },
  "halt_environment_state": [
    0.05837132406269796,
    -0.004976567391914655,
    0.05583954158096083,
    0.03568387031555176,
    0.9990999102592468,
    0.011366612277925014,
    0.01991710439324379,
    0.23341358053632258,
    0.10023079237940521,
    0.8419234948425994,
    -0.10248179669489972,
    0.013373223579133488,
    0.9945075015965669,
    -0.016536852948542496
  ]
}