Add README: success checker changes
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README.md
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# SIMPLE-eval
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Eval episodes for 17 SIMPLE G1 whole-body tasks, unzipped from `SIMPLE-org/data` `eval-fixed/`.
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Layout: `<Task>/dr-level-{0,1,2,hard}/`.
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## Success checker changes in this update
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Four tasks have a new success check. The other 13 are unchanged.
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| Task | Change |
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|---|---|
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| G1WholebodyBendHandoverTeleop-v0 | The box's center of mass must now be inside the basket's xy footprint, not just touching the basket. A box resting against the outside of the basket no longer counts. |
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| G1WholebodyBendPickAndPlaceTeleop-v0 | Same center-of-mass-in-container check as BendHandoverTeleop. |
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| G1WholebodyBendPickAndPlaceOnSofaMP-v0 | Success now counts only while the box is on the sofa and released (no hand link touching it). The per-step reward is rounded so that 9 steps × 0.1 reach the 0.9 threshold exactly. |
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| G1WholebodyPickAndBendPlaceMP-v0 | The container is now scene19's dog bed. Success means the box touches the bed and does not touch `world`; the old check counted contact with the floor. |
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| All other 13 tasks | No change to the success check. |
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