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--- /dev/null +++ b/150case/success_cases/stack_blocks_ep000041/historical_replay/replay/task_contract.json @@ -0,0 +1,98 @@ +{ + "schema": "rssr.task.contract.v1", + "task_id": "dm7", + "scene_sha256": "f6132caa9cb84605828f8cdbd3ffbc6cd25972484fded8fbcf6598aca4df7c9d", + "bindings": { + "targets": [ + "blue_cube", + "purple_cube" + ], + "containers": [], + "excluded": [], + "particles": [], + "target_region": "stack_region", + "articulation": null, + "stack_hands": { + "base": "left", + "upper": "right" + } + }, + "predicates": [ + { + "id": "lift_with_contact_00", + "kind": "lift_with_contact", + "object": "blue_cube", + "hand": "left", + "height_m": 0.025 + }, + { + "id": "lift_with_contact_01", + "kind": "lift_with_contact", + "object": "purple_cube", + "hand": "right", + "height_m": 0.025 + }, + { + "id": "inside_region_02", + "kind": "inside_region", + "object": "blue_cube", + "region": "stack_region", + "tolerance_m": 0.002 + }, + { + "id": "stable_supported_on_03", + "kind": 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