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{
 "episode": "session_20251227_225049",
 "task1_start": 41,
 "task1_end": 73,
 "task1_dist_thr": 0.11262598559260369,
 "task1_radius_est": 0.08663537353277206,
 "task1_lift_dz": 0.02,
 "task1_contact_key": "fused_segmented_point_cloud_base_object_to_hand_point_cloud_base_contact_map",
 "task2_start": 75,
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 "task2_dist_thr": 0.15,
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 "task2_contact_key": "fused_segmented_point_cloud_base_drawer_to_hand_point_cloud_base_contact_map"
}