Unseen sim bundle: 29 objects, USD+meta, 500 candidates/obj (no filter)

.gitattributes

@@ -58,3 +58,27 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 # Video files - compressed
 *.mp4 filter=lfs diff=lfs merge=lfs -text
 *.webm filter=lfs diff=lfs merge=lfs -text
+obj_usd/unseen_000.usd filter=lfs diff=lfs merge=lfs -text
+obj_usd/unseen_001.usd filter=lfs diff=lfs merge=lfs -text
+obj_usd/unseen_002.usd filter=lfs diff=lfs merge=lfs -text
+obj_usd/unseen_003.usd filter=lfs diff=lfs merge=lfs -text
+obj_usd/unseen_004.usd filter=lfs diff=lfs merge=lfs -text
+obj_usd/unseen_005.usd filter=lfs diff=lfs merge=lfs -text
+obj_usd/unseen_007.usd filter=lfs diff=lfs merge=lfs -text
+obj_usd/unseen_008.usd filter=lfs diff=lfs merge=lfs -text
+obj_usd/unseen_009.usd filter=lfs diff=lfs merge=lfs -text
+obj_usd/unseen_010.usd filter=lfs diff=lfs merge=lfs -text
+obj_usd/unseen_011.usd filter=lfs diff=lfs merge=lfs -text
+obj_usd/unseen_013.usd filter=lfs diff=lfs merge=lfs -text
+obj_usd/unseen_014.usd filter=lfs diff=lfs merge=lfs -text
+obj_usd/unseen_015.usd filter=lfs diff=lfs merge=lfs -text
+obj_usd/unseen_016.usd filter=lfs diff=lfs merge=lfs -text
+obj_usd/unseen_017.usd filter=lfs diff=lfs merge=lfs -text
+obj_usd/unseen_018.usd filter=lfs diff=lfs merge=lfs -text
+obj_usd/unseen_020.usd filter=lfs diff=lfs merge=lfs -text
+obj_usd/unseen_023.usd filter=lfs diff=lfs merge=lfs -text
+obj_usd/unseen_024.usd filter=lfs diff=lfs merge=lfs -text
+obj_usd/unseen_025.usd filter=lfs diff=lfs merge=lfs -text
+obj_usd/unseen_026.usd filter=lfs diff=lfs merge=lfs -text
+obj_usd/unseen_027.usd filter=lfs diff=lfs merge=lfs -text
+obj_usd/unseen_028.usd filter=lfs diff=lfs merge=lfs -text

bundle_summary.json

@@ -0,0 +1,19 @@
+{
+  "bundle": "eval_unseen_sim_bundle",
+  "updated_utc": "2026-05-28T14:29:44.870023+00:00",
+  "format_version": "2.0",
+  "n_objects": 29,
+  "n_candidates_per_object": 500,
+  "candidates_status": "migrated from candidates",
+  "sim_z_yaw_deg": 0,
+  "object_list_source": "evaluation/configs/eval_unseen_all.csv",
+  "selection_criterion": "eval_unseen_all.csv (enabled=1)",
+  "datasets": {
+    "unseen": 29
+  },
+  "paths": {
+    "usd_meta": "obj_usd/{obj_id}.usd + {obj_id}_meta.json",
+    "candidates": "candidates/{obj_id}.json",
+    "index": "manifest.csv"
+  }
+}

candidates/README.md

@@ -0,0 +1,23 @@
+# Candidates
+
+每物体 `{obj_id}.json`（format 2.0），默认 **500** 条、`sim_z_yaw_deg = 0`。
+
+生成 pool HDF5：
+
+```bash
+python evaluation/eval_pool.py \
+  --obj-list evaluation/configs/eval_unseen_all.csv \
+  --generate-candidate-each-trial \
+  --candidates-only \
+  --trials-per-obj-yaw 500 \
+  --z-yaw-deg 0 \
+  --result-dir output/evaluation/unseen_yaw0_n500_poolgen \
+  --candidate-gpu-ids 0,1 \
+  --candidate-workers 6
+```
+
+写入本目录：
+
+```bash
+python tools/migrate_eval_unseen_pool_candidates_to_bundle.py
+```

candidates_conversion.json

@@ -0,0 +1,213 @@
+{
+  "format_version": "2.0",
+  "migrated_from": "/home/vision/Project/Affordance2Grasp/output/evaluation/unseen_yaw0_n500_poolgen/candidates",
+  "updated_utc": "2026-05-28T14:29:44.869745+00:00",
+  "n_converted": 29,
+  "n_missing": 0,
+  "n_candidates_per_object": 500,
+  "objects": [
+    {
+      "obj_id": "unseen_000",
+      "status": "ok",
+      "source_hdf5": "/home/vision/Project/Affordance2Grasp/output/evaluation/unseen_yaw0_n500_poolgen/candidates/unseen_000/unseen_000_yaw000_pool_grasp.hdf5",
+      "output": "/home/vision/Project/Affordance2Grasp/output/eval_unseen_sim_bundle/candidates/unseen_000.json",
+      "n_candidates": 500
+    },
+    {
+      "obj_id": "unseen_001",
+      "status": "ok",
+      "source_hdf5": "/home/vision/Project/Affordance2Grasp/output/evaluation/unseen_yaw0_n500_poolgen/candidates/unseen_001/unseen_001_yaw000_pool_grasp.hdf5",
+      "output": "/home/vision/Project/Affordance2Grasp/output/eval_unseen_sim_bundle/candidates/unseen_001.json",
+      "n_candidates": 500
+    },
+    {
+      "obj_id": "unseen_002",
+      "status": "ok",
+      "source_hdf5": "/home/vision/Project/Affordance2Grasp/output/evaluation/unseen_yaw0_n500_poolgen/candidates/unseen_002/unseen_002_yaw000_pool_grasp.hdf5",
+      "output": "/home/vision/Project/Affordance2Grasp/output/eval_unseen_sim_bundle/candidates/unseen_002.json",
+      "n_candidates": 500
+    },
+    {
+      "obj_id": "unseen_003",
+      "status": "ok",
+      "source_hdf5": "/home/vision/Project/Affordance2Grasp/output/evaluation/unseen_yaw0_n500_poolgen/candidates/unseen_003/unseen_003_yaw000_pool_grasp.hdf5",
+      "output": "/home/vision/Project/Affordance2Grasp/output/eval_unseen_sim_bundle/candidates/unseen_003.json",
+      "n_candidates": 500
+    },
+    {
+      "obj_id": "unseen_004",
+      "status": "ok",
+      "source_hdf5": "/home/vision/Project/Affordance2Grasp/output/evaluation/unseen_yaw0_n500_poolgen/candidates/unseen_004/unseen_004_yaw000_pool_grasp.hdf5",
+      "output": "/home/vision/Project/Affordance2Grasp/output/eval_unseen_sim_bundle/candidates/unseen_004.json",
+      "n_candidates": 500
+    },
+    {
+      "obj_id": "unseen_005",
+      "status": "ok",
+      "source_hdf5": "/home/vision/Project/Affordance2Grasp/output/evaluation/unseen_yaw0_n500_poolgen/candidates/unseen_005/unseen_005_yaw000_pool_grasp.hdf5",
+      "output": "/home/vision/Project/Affordance2Grasp/output/eval_unseen_sim_bundle/candidates/unseen_005.json",
+      "n_candidates": 500
+    },
+    {
+      "obj_id": "unseen_006",
+      "status": "ok",
+      "source_hdf5": "/home/vision/Project/Affordance2Grasp/output/evaluation/unseen_yaw0_n500_poolgen/candidates/unseen_006/unseen_006_yaw000_pool_grasp.hdf5",
+      "output": "/home/vision/Project/Affordance2Grasp/output/eval_unseen_sim_bundle/candidates/unseen_006.json",
+      "n_candidates": 500
+    },
+    {
+      "obj_id": "unseen_007",
+      "status": "ok",
+      "source_hdf5": "/home/vision/Project/Affordance2Grasp/output/evaluation/unseen_yaw0_n500_poolgen/candidates/unseen_007/unseen_007_yaw000_pool_grasp.hdf5",
+      "output": "/home/vision/Project/Affordance2Grasp/output/eval_unseen_sim_bundle/candidates/unseen_007.json",
+      "n_candidates": 500
+    },
+    {
+      "obj_id": "unseen_008",
+      "status": "ok",
+      "source_hdf5": "/home/vision/Project/Affordance2Grasp/output/evaluation/unseen_yaw0_n500_poolgen/candidates/unseen_008/unseen_008_yaw000_pool_grasp.hdf5",
+      "output": "/home/vision/Project/Affordance2Grasp/output/eval_unseen_sim_bundle/candidates/unseen_008.json",
+      "n_candidates": 500
+    },
+    {
+      "obj_id": "unseen_009",
+      "status": "ok",
+      "source_hdf5": "/home/vision/Project/Affordance2Grasp/output/evaluation/unseen_yaw0_n500_poolgen/candidates/unseen_009/unseen_009_yaw000_pool_grasp.hdf5",
+      "output": "/home/vision/Project/Affordance2Grasp/output/eval_unseen_sim_bundle/candidates/unseen_009.json",
+      "n_candidates": 500
+    },
+    {
+      "obj_id": "unseen_010",
+      "status": "ok",
+      "source_hdf5": "/home/vision/Project/Affordance2Grasp/output/evaluation/unseen_yaw0_n500_poolgen/candidates/unseen_010/unseen_010_yaw000_pool_grasp.hdf5",
+      "output": "/home/vision/Project/Affordance2Grasp/output/eval_unseen_sim_bundle/candidates/unseen_010.json",
+      "n_candidates": 500
+    },
+    {
+      "obj_id": "unseen_011",
+      "status": "ok",
+      "source_hdf5": "/home/vision/Project/Affordance2Grasp/output/evaluation/unseen_yaw0_n500_poolgen/candidates/unseen_011/unseen_011_yaw000_pool_grasp.hdf5",
+      "output": "/home/vision/Project/Affordance2Grasp/output/eval_unseen_sim_bundle/candidates/unseen_011.json",
+      "n_candidates": 500
+    },
+    {
+      "obj_id": "unseen_012",
+      "status": "ok",
+      "source_hdf5": "/home/vision/Project/Affordance2Grasp/output/evaluation/unseen_yaw0_n500_poolgen/candidates/unseen_012/unseen_012_yaw000_pool_grasp.hdf5",
+      "output": "/home/vision/Project/Affordance2Grasp/output/eval_unseen_sim_bundle/candidates/unseen_012.json",
+      "n_candidates": 500
+    },
+    {
+      "obj_id": "unseen_013",
+      "status": "ok",
+      "source_hdf5": "/home/vision/Project/Affordance2Grasp/output/evaluation/unseen_yaw0_n500_poolgen/candidates/unseen_013/unseen_013_yaw000_pool_grasp.hdf5",
+      "output": "/home/vision/Project/Affordance2Grasp/output/eval_unseen_sim_bundle/candidates/unseen_013.json",
+      "n_candidates": 500
+    },
+    {
+      "obj_id": "unseen_014",
+      "status": "ok",
+      "source_hdf5": "/home/vision/Project/Affordance2Grasp/output/evaluation/unseen_yaw0_n500_poolgen/candidates/unseen_014/unseen_014_yaw000_pool_grasp.hdf5",
+      "output": "/home/vision/Project/Affordance2Grasp/output/eval_unseen_sim_bundle/candidates/unseen_014.json",
+      "n_candidates": 500
+    },
+    {
+      "obj_id": "unseen_015",
+      "status": "ok",
+      "source_hdf5": "/home/vision/Project/Affordance2Grasp/output/evaluation/unseen_yaw0_n500_poolgen/candidates/unseen_015/unseen_015_yaw000_pool_grasp.hdf5",
+      "output": "/home/vision/Project/Affordance2Grasp/output/eval_unseen_sim_bundle/candidates/unseen_015.json",
+      "n_candidates": 500
+    },
+    {
+      "obj_id": "unseen_016",
+      "status": "ok",
+      "source_hdf5": "/home/vision/Project/Affordance2Grasp/output/evaluation/unseen_yaw0_n500_poolgen/candidates/unseen_016/unseen_016_yaw000_pool_grasp.hdf5",
+      "output": "/home/vision/Project/Affordance2Grasp/output/eval_unseen_sim_bundle/candidates/unseen_016.json",
+      "n_candidates": 500
+    },
+    {
+      "obj_id": "unseen_017",
+      "status": "ok",
+      "source_hdf5": "/home/vision/Project/Affordance2Grasp/output/evaluation/unseen_yaw0_n500_poolgen/candidates/unseen_017/unseen_017_yaw000_pool_grasp.hdf5",
+      "output": "/home/vision/Project/Affordance2Grasp/output/eval_unseen_sim_bundle/candidates/unseen_017.json",
+      "n_candidates": 500
+    },
+    {
+      "obj_id": "unseen_018",
+      "status": "ok",
+      "source_hdf5": "/home/vision/Project/Affordance2Grasp/output/evaluation/unseen_yaw0_n500_poolgen/candidates/unseen_018/unseen_018_yaw000_pool_grasp.hdf5",
+      "output": "/home/vision/Project/Affordance2Grasp/output/eval_unseen_sim_bundle/candidates/unseen_018.json",
+      "n_candidates": 500
+    },
+    {
+      "obj_id": "unseen_019",
+      "status": "ok",
+      "source_hdf5": "/home/vision/Project/Affordance2Grasp/output/evaluation/unseen_yaw0_n500_poolgen/candidates/unseen_019/unseen_019_yaw000_pool_grasp.hdf5",
+      "output": "/home/vision/Project/Affordance2Grasp/output/eval_unseen_sim_bundle/candidates/unseen_019.json",
+      "n_candidates": 500
+    },
+    {
+      "obj_id": "unseen_020",
+      "status": "ok",
+      "source_hdf5": "/home/vision/Project/Affordance2Grasp/output/evaluation/unseen_yaw0_n500_poolgen/candidates/unseen_020/unseen_020_yaw000_pool_grasp.hdf5",
+      "output": "/home/vision/Project/Affordance2Grasp/output/eval_unseen_sim_bundle/candidates/unseen_020.json",
+      "n_candidates": 500
+    },
+    {
+      "obj_id": "unseen_021",
+      "status": "ok",
+      "source_hdf5": "/home/vision/Project/Affordance2Grasp/output/evaluation/unseen_yaw0_n500_poolgen/candidates/unseen_021/unseen_021_yaw000_pool_grasp.hdf5",
+      "output": "/home/vision/Project/Affordance2Grasp/output/eval_unseen_sim_bundle/candidates/unseen_021.json",
+      "n_candidates": 500
+    },
+    {
+      "obj_id": "unseen_022",
+      "status": "ok",
+      "source_hdf5": "/home/vision/Project/Affordance2Grasp/output/evaluation/unseen_yaw0_n500_poolgen/candidates/unseen_022/unseen_022_yaw000_pool_grasp.hdf5",
+      "output": "/home/vision/Project/Affordance2Grasp/output/eval_unseen_sim_bundle/candidates/unseen_022.json",
+      "n_candidates": 500
+    },
+    {
+      "obj_id": "unseen_023",
+      "status": "ok",
+      "source_hdf5": "/home/vision/Project/Affordance2Grasp/output/evaluation/unseen_yaw0_n500_poolgen/candidates/unseen_023/unseen_023_yaw000_pool_grasp.hdf5",
+      "output": "/home/vision/Project/Affordance2Grasp/output/eval_unseen_sim_bundle/candidates/unseen_023.json",
+      "n_candidates": 500
+    },
+    {
+      "obj_id": "unseen_024",
+      "status": "ok",
+      "source_hdf5": "/home/vision/Project/Affordance2Grasp/output/evaluation/unseen_yaw0_n500_poolgen/candidates/unseen_024/unseen_024_yaw000_pool_grasp.hdf5",
+      "output": "/home/vision/Project/Affordance2Grasp/output/eval_unseen_sim_bundle/candidates/unseen_024.json",
+      "n_candidates": 500
+    },
+    {
+      "obj_id": "unseen_025",
+      "status": "ok",
+      "source_hdf5": "/home/vision/Project/Affordance2Grasp/output/evaluation/unseen_yaw0_n500_poolgen/candidates/unseen_025/unseen_025_yaw000_pool_grasp.hdf5",
+      "output": "/home/vision/Project/Affordance2Grasp/output/eval_unseen_sim_bundle/candidates/unseen_025.json",
+      "n_candidates": 500
+    },
+    {
+      "obj_id": "unseen_026",
+      "status": "ok",
+      "source_hdf5": "/home/vision/Project/Affordance2Grasp/output/evaluation/unseen_yaw0_n500_poolgen/candidates/unseen_026/unseen_026_yaw000_pool_grasp.hdf5",
+      "output": "/home/vision/Project/Affordance2Grasp/output/eval_unseen_sim_bundle/candidates/unseen_026.json",
+      "n_candidates": 500
+    },
+    {
+      "obj_id": "unseen_027",
+      "status": "ok",
+      "source_hdf5": "/home/vision/Project/Affordance2Grasp/output/evaluation/unseen_yaw0_n500_poolgen/candidates/unseen_027/unseen_027_yaw000_pool_grasp.hdf5",
+      "output": "/home/vision/Project/Affordance2Grasp/output/eval_unseen_sim_bundle/candidates/unseen_027.json",
+      "n_candidates": 500
+    },
+    {
+      "obj_id": "unseen_028",
+      "status": "ok",
+      "source_hdf5": "/home/vision/Project/Affordance2Grasp/output/evaluation/unseen_yaw0_n500_poolgen/candidates/unseen_028/unseen_028_yaw000_pool_grasp.hdf5",
+      "output": "/home/vision/Project/Affordance2Grasp/output/eval_unseen_sim_bundle/candidates/unseen_028.json",
+      "n_candidates": 500
+    }
+  ]
+}

eval_unseen_all.csv

@@ -0,0 +1,30 @@
+obj_id,enabled,notes
+unseen_000,1,unseen_all
+unseen_001,1,unseen_all
+unseen_002,1,unseen_all
+unseen_003,1,unseen_all
+unseen_004,1,unseen_all
+unseen_005,1,unseen_all
+unseen_006,1,unseen_all
+unseen_007,1,unseen_all
+unseen_008,1,unseen_all
+unseen_009,1,unseen_all
+unseen_010,1,unseen_all
+unseen_011,1,unseen_all
+unseen_012,1,unseen_all
+unseen_013,1,unseen_all
+unseen_014,1,unseen_all
+unseen_015,1,unseen_all
+unseen_016,1,unseen_all
+unseen_017,1,unseen_all
+unseen_018,1,unseen_all
+unseen_019,1,unseen_all
+unseen_020,1,unseen_all
+unseen_021,1,unseen_all
+unseen_022,1,unseen_all
+unseen_023,1,unseen_all
+unseen_024,1,unseen_all
+unseen_025,1,unseen_all
+unseen_026,1,unseen_all
+unseen_027,1,unseen_all
+unseen_028,1,unseen_all

manifest.csv

@@ -0,0 +1,30 @@
+obj_id,dataset,notes,usd_relpath,meta_relpath,z_offset_m,candidate_json_relpath
+unseen_000,unseen,unseen_all,obj_usd/unseen_000.usd,obj_usd/unseen_000_meta.json,0.15,candidates/unseen_000.json
+unseen_001,unseen,unseen_all,obj_usd/unseen_001.usd,obj_usd/unseen_001_meta.json,0.024814,candidates/unseen_001.json
+unseen_002,unseen,unseen_all,obj_usd/unseen_002.usd,obj_usd/unseen_002_meta.json,0.017965,candidates/unseen_002.json
+unseen_003,unseen,unseen_all,obj_usd/unseen_003.usd,obj_usd/unseen_003_meta.json,0.043669,candidates/unseen_003.json
+unseen_004,unseen,unseen_all,obj_usd/unseen_004.usd,obj_usd/unseen_004_meta.json,0.045738,candidates/unseen_004.json
+unseen_005,unseen,unseen_all,obj_usd/unseen_005.usd,obj_usd/unseen_005_meta.json,0.07,candidates/unseen_005.json
+unseen_006,unseen,unseen_all,obj_usd/unseen_006.usd,obj_usd/unseen_006_meta.json,0.06,candidates/unseen_006.json
+unseen_007,unseen,unseen_all,obj_usd/unseen_007.usd,obj_usd/unseen_007_meta.json,0.030318,candidates/unseen_007.json
+unseen_008,unseen,unseen_all,obj_usd/unseen_008.usd,obj_usd/unseen_008_meta.json,0.0243,candidates/unseen_008.json
+unseen_009,unseen,unseen_all,obj_usd/unseen_009.usd,obj_usd/unseen_009_meta.json,0.096074,candidates/unseen_009.json
+unseen_010,unseen,unseen_all,obj_usd/unseen_010.usd,obj_usd/unseen_010_meta.json,0.11,candidates/unseen_010.json
+unseen_011,unseen,unseen_all,obj_usd/unseen_011.usd,obj_usd/unseen_011_meta.json,0.056395,candidates/unseen_011.json
+unseen_012,unseen,unseen_all,obj_usd/unseen_012.usd,obj_usd/unseen_012_meta.json,0.09775,candidates/unseen_012.json
+unseen_013,unseen,unseen_all,obj_usd/unseen_013.usd,obj_usd/unseen_013_meta.json,0.1,candidates/unseen_013.json
+unseen_014,unseen,unseen_all,obj_usd/unseen_014.usd,obj_usd/unseen_014_meta.json,0.067523,candidates/unseen_014.json
+unseen_015,unseen,unseen_all,obj_usd/unseen_015.usd,obj_usd/unseen_015_meta.json,0.057127,candidates/unseen_015.json
+unseen_016,unseen,unseen_all,obj_usd/unseen_016.usd,obj_usd/unseen_016_meta.json,0.044096,candidates/unseen_016.json
+unseen_017,unseen,unseen_all,obj_usd/unseen_017.usd,obj_usd/unseen_017_meta.json,0.034009,candidates/unseen_017.json
+unseen_018,unseen,unseen_all,obj_usd/unseen_018.usd,obj_usd/unseen_018_meta.json,0.115186,candidates/unseen_018.json
+unseen_019,unseen,unseen_all,obj_usd/unseen_019.usd,obj_usd/unseen_019_meta.json,0.067351,candidates/unseen_019.json
+unseen_020,unseen,unseen_all,obj_usd/unseen_020.usd,obj_usd/unseen_020_meta.json,0.100462,candidates/unseen_020.json
+unseen_021,unseen,unseen_all,obj_usd/unseen_021.usd,obj_usd/unseen_021_meta.json,0.07124,candidates/unseen_021.json
+unseen_022,unseen,unseen_all,obj_usd/unseen_022.usd,obj_usd/unseen_022_meta.json,0.013869,candidates/unseen_022.json
+unseen_023,unseen,unseen_all,obj_usd/unseen_023.usd,obj_usd/unseen_023_meta.json,0.029718,candidates/unseen_023.json
+unseen_024,unseen,unseen_all,obj_usd/unseen_024.usd,obj_usd/unseen_024_meta.json,0.125,candidates/unseen_024.json
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