{ "episode": "session_20260128_210739", "task1_start": 29, "task1_end": 66, "task1_dist_thr": 0.14479450128972532, "task1_radius_est": 0.11138038560748101, "task1_lift_dz": 0.020086323022842408, "task1_contact_key": "fused_segmented_point_cloud_base_object_to_hand_point_cloud_base_contact_map", "task2_start": 84, "task2_end": 165, "task2_dist_thr": 0.1199184436351061, "task2_radius_est": 0.09224495664238931, "task2_contact_key": "fused_segmented_point_cloud_base_drawer_to_hand_point_cloud_base_contact_map" }