{
 "episode": "session_20260128_211350",
 "task1_start": 27,
 "task1_end": 56,
 "task1_dist_thr": 0.14821903064846995,
 "task1_radius_est": 0.11401463896036149,
 "task1_lift_dz": 0.02312753051519394,
 "task1_contact_key": "fused_segmented_point_cloud_base_object_to_hand_point_cloud_base_contact_map",
 "task2_start": 64,
 "task2_end": 152,
 "task2_dist_thr": 0.12252076961100102,
 "task2_radius_est": 0.09424674585461616,
 "task2_contact_key": "fused_segmented_point_cloud_base_drawer_to_hand_point_cloud_base_contact_map"
}