{ "episode": "session_20260128_210451", "task1_start": 35, "task1_end": 65, "task1_dist_thr": 0.15, "task1_radius_est": 0.11789390817284584, "task1_lift_dz": 0.020591910481452938, "task1_contact_key": "fused_segmented_point_cloud_base_object_to_hand_point_cloud_base_contact_map", "task2_start": 77, "task2_end": 150, "task2_dist_thr": 0.12423804327845574, "task2_radius_est": 0.0955677255988121, "task2_contact_key": "fused_segmented_point_cloud_base_drawer_to_hand_point_cloud_base_contact_map" }