# Evaluation object lists

## Current: `eval_objects_merged_success_ge30.csv`

- **Criterion:** sum of `successful_grasps` in `output/grasp_collect_no_rot/robot_gt/round_R/` for **R ≥ 3**, per object, with **count ≥ 30**.
- **Regenerate:**

```bash
python tools/build_eval_object_list.py \
  --outdir output/grasp_collect_no_rot \
  --min-round 3 \
  --min-success 30 \
  --output evaluation/configs/eval_objects_merged_success_ge30.csv
```

## Sim USD bundle

Packed assets for external Isaac Sim eval:

```bash
python tools/package_eval_ge30_usd_bundle.py
# → output/eval_objects_ge30_sim_bundle/
```

## Deprecated lists

- **`eval_objects_merged_success_ge20.csv`** — round≥3, success≥20 (97 objects).
- **`eval_objects_merged_success_ge40.csv`** — merged HDF5 total success≥40 (legacy rule).