{
 "episode": "session_20260128_211322",
 "task1_start": 28,
 "task1_end": 63,
 "task1_dist_thr": 0.15,
 "task1_radius_est": 0.12038502097129822,
 "task1_lift_dz": 0.02059477239847183,
 "task1_contact_key": "fused_segmented_point_cloud_base_object_to_hand_point_cloud_base_contact_map",
 "task2_start": 92,
 "task2_end": 168,
 "task2_dist_thr": 0.12345508560538297,
 "task2_radius_est": 0.09496545046567921,
 "task2_contact_key": "fused_segmented_point_cloud_base_drawer_to_hand_point_cloud_base_contact_map"
}