{ "episode": "session_20251227_225431", "task1_start": 40, "task1_end": 94, "task1_dist_thr": 0.1038596646487713, "task1_radius_est": 0.07989204972982408, "task1_lift_dz": 0.02, "task1_contact_key": "fused_segmented_point_cloud_base_object_to_hand_point_cloud_base_contact_map", "task2_start": 122, "task2_end": 248, "task2_dist_thr": 0.14543731093406678, "task2_radius_est": 0.11187485456466675, "task2_contact_key": "fused_segmented_point_cloud_base_drawer_to_hand_point_cloud_base_contact_map" }