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.