{ "episode": "session_20260128_205441", "task1_start": 33, "task1_end": 69, "task1_dist_thr": 0.15, "task1_radius_est": 0.12821451872587206, "task1_lift_dz": 0.026411762237548823, "task1_contact_key": "fused_segmented_point_cloud_base_object_to_hand_point_cloud_base_contact_map", "task2_start": 80, "task2_end": 172, "task2_dist_thr": 0.1231739052385092, "task2_radius_est": 0.0947491578757763, "task2_contact_key": "fused_segmented_point_cloud_base_drawer_to_hand_point_cloud_base_contact_map" }