{ "episode": "session_20260128_210517", "task1_start": 42, "task1_end": 67, "task1_dist_thr": 0.15, "task1_radius_est": 0.12012672275304795, "task1_lift_dz": 0.02246918812394142, "task1_contact_key": "fused_segmented_point_cloud_base_object_to_hand_point_cloud_base_contact_map", "task2_start": 86, "task2_end": 153, "task2_dist_thr": 0.12048120051622391, "task2_radius_est": 0.09267784655094147, "task2_contact_key": "fused_segmented_point_cloud_base_drawer_to_hand_point_cloud_base_contact_map" }