{ "episode": "session_20251227_224128", "task1_start": 57, "task1_end": 97, "task1_dist_thr": 0.07060328274965288, "task1_radius_est": 0.054310217499732985, "task1_lift_dz": 0.02460641250014305, "task1_contact_key": "fused_segmented_point_cloud_base_object_to_hand_point_cloud_base_contact_map", "task2_start": 133, "task2_end": 257, "task2_dist_thr": 0.14544630996882915, "task2_radius_est": 0.11188177689909935, "task2_contact_key": "fused_segmented_point_cloud_base_drawer_to_hand_point_cloud_base_contact_map" }