{
 "episode": "session_20260128_205653",
 "task1_start": 36,
 "task1_end": 76,
 "task1_dist_thr": 0.14691210173070435,
 "task1_radius_est": 0.11300930902361872,
 "task1_lift_dz": 0.02,
 "task1_contact_key": "fused_segmented_point_cloud_base_object_to_hand_point_cloud_base_contact_map",
 "task2_start": 91,
 "task2_end": 182,
 "task2_dist_thr": 0.12075916521251202,
 "task2_radius_est": 0.09289166554808617,
 "task2_contact_key": "fused_segmented_point_cloud_base_drawer_to_hand_point_cloud_base_contact_map"
}