{ "episode": "session_20260128_205017", "task1_start": 31, "task1_end": 68, "task1_dist_thr": 0.15, "task1_radius_est": 0.1257668361067772, "task1_lift_dz": 0.021922194957733152, "task1_contact_key": "fused_segmented_point_cloud_base_object_to_hand_point_cloud_base_contact_map", "task2_start": 91, "task2_end": 177, "task2_dist_thr": 0.12453868038952351, "task2_radius_est": 0.09579898491501808, "task2_contact_key": "fused_segmented_point_cloud_base_drawer_to_hand_point_cloud_base_contact_map" }