---
license: mit
pretty_name: SIMPLE-eval
task_categories:
- robotics
tags:
- simulation
- humanoid
- unitree-g1
- whole-body-control
- evaluation
---

# SIMPLE-eval

Eval episodes for 17 SIMPLE G1 whole-body tasks, unzipped from `SIMPLE-org/data` `eval-fixed/`.
Layout: `<Task>/dr-level-{0,1,2,hard}/`.

## Success checker changes in this update

Four tasks have a new success check. The other 13 are unchanged.

| Task | Change |
|---|---|
| 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. |
| G1WholebodyBendPickAndPlaceTeleop-v0 | Same center-of-mass-in-container check as BendHandoverTeleop. |
| 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. |
| 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. |
| All other 13 tasks | No change to the success check. |