{
  "episode_idx": 136,
  "halt_reason": "task_success",
  "halt_step": 218,
  "advantage_threshold": -0.1,
  "v_drop_consecutive_steps": 100,
  "max_episode_steps": 800,
  "final_advantage": -0.003923177719116211,
  "final_v_value": 1.0003621578216553,
  "final_q_value": 0.9964389801025391,
  "halt_robot_state": {
    "eef_pos": [
      0.22165565602103995,
      0.1596031875086677,
      0.910374431128169
    ],
    "eef_quat": [
      0.7072174631934495,
      0.6983030591561229,
      0.04202095675962976,
      0.1022278656748092
    ],
    "gripper_qpos": [
      0.022332866617468992,
      -0.022412430224732872
    ]
  },
  "halt_environment_state": [
    -0.05969622128657737,
    0.001681125036556097,
    0.02427783116553428,
    0.999001145362854,
    -0.008010650053620338,
    -0.039878200739622116,
    0.01849905401468277,
    0.2293004942905179,
    0.09829376275082156,
    0.8551725659850914,
    -0.08924058053305954,
    -0.08327259937849844,
    0.7070600982858877,
    0.6965398842785836
  ]
}