GE30 sim bundle: 87 objects, 500 PDM candidates each, yaw=0

.gitattributes

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README.md

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+# Eval GE30 仿真资产包
+
+用于在外部复现 Affordance2Grasp **evaluation / Isaac Sim** 默认桌面场景：物体 USD、放置高度。PDM 抓取候选位姿 **尚未写入本包**（见 `candidates/`）。
+
+---
+
+## 物体清单（共 87 个）
+
+| 项目 | 说明 |
+|------|------|
+| **数量** | **87** 个物体 |
+| **来源列表** | 仓库内 `evaluation/configs/eval_objects_merged_success_ge30.csv`（本目录有副本） |
+| **入选条件** | `robot_gt` **round ≥ 3** 累计 `success_count ≥ 30`（`notes = round_ge3_success_ge30`） |
+| **按数据集合** | **OakInk 系 73 个** + **YCB/Dex 系 14 个**（见 `bundle_summary.json` / `manifest.csv`） |
+| **抓取候选** | **待生成** |
+
+完整 ID、路径、`z_offset_m` 见 **`manifest.csv`**。摘要见 **`bundle_summary.json`**。
+
+本包 **不包含** `sim/object_rotation_overrides.json`；放置高度只认 `obj_usd/{obj_id}_meta.json` 里的 **`z_offset_m`**。
+
+---
+
+## 目录结构
+
+```
+eval_objects_ge30_sim_bundle/
+├── README.md
+├── bundle_summary.json
+├── scene_layout_reference.py
+├── eval_objects_merged_success_ge30.csv
+├── manifest.csv
+├── obj_usd/
+│   ├── {obj_id}.usd
+│   └── {obj_id}_meta.json
+└── candidates/
+    └── (待生成) {obj_id}.json
+```
+
+---
+
+## `z_offset_m`（物体竖直放置）
+
+```text
+x = 0.0
+y = 0.55
+z = TABLE_TOP_Z + z_offset_m = 0.80 + z_offset_m
+```
+
+| 概念 | 说明 |
+|------|------|
+| **`TABLE_TOP_Z = 0.80` m** | 桌面碰撞体顶面 |
+| **`z_offset_m`** | 使 USD mesh 底面贴在桌面附近（已 bake，**不要**再乘 scale） |
+| **仿真** | `object_scale = 1.0`；world Z yaw = **0°** |
+
+---
+
+## World 场景布置
+
+与仓库 `sim/evaluation/scene_builder.py` 一致；可用 `scene_layout_reference.py` 打印数值。
+
+| 元素 | 位置 (m) | 姿态 (roll,pitch,yaw) ° |
+|------|----------|-------------------------|
+| 地面 | `(0, 0, -0.025)` | 0,0,0 |
+| 桌子 | `(0, 1.0, 0.75)` | 0,0,0 |
+| Franka | `(0.2, -0.05, 0.8)` | 0,0,**90** |
+| 物体 | `(0, 0.55, 0.80+z_offset_m)` | 0,0,0 |
+
+---
+
+## Candidates（待生成）
+
+见 `candidates/README.md` 与仓库 `docs/evaluation.md`。
+
+---
+
+## 重新打包
+
+```bash
+python tools/package_eval_ge30_usd_bundle.py
+# 可选：--prune-candidates
+```
+
+---
+
+## 仓库对照
+
+| 内容 | 路径 |
+|------|------|
+| 物体列表 | `evaluation/configs/eval_objects_merged_success_ge30.csv` |
+| 列表构建 | `tools/build_eval_object_list.py --min-round 3 --min-success 30` |
+| 场景 | `sim/evaluation/scene_builder.py` |
+| 执行 | `sim/evaluation/curobo_executor.py` |

bundle_summary.json

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+{
+  "bundle": "eval_objects_ge30_sim_bundle",
+  "updated_utc": "2026-05-28T01:45:42.142237+00:00",
+  "format_version": "2.0",
+  "n_objects": 87,
+  "n_candidates_per_object": 500,
+  "candidates_status": "migrated from candidates",
+  "sim_z_yaw_deg": 0,
+  "object_list_source": "evaluation/configs/eval_objects_merged_success_ge30.csv",
+  "selection_criterion": "round>=3 robot_gt success_count >= 30",
+  "datasets": {
+    "oakink": 73,
+    "ycb": 14
+  },
+  "paths": {
+    "usd_meta": "obj_usd/{obj_id}.usd + {obj_id}_meta.json",
+    "candidates": "candidates/{obj_id}.json",
+    "index": "manifest.csv"
+  }
+}