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G2-Eval

Evaluation tasks for the AgiBot G2 in IsaacLab-Arena, used with the G2 evaluation code that pins this pack's revision.

common/platform.json: the robot, table and room every task shares, and where they stand (the table top at z = 0).
tasks/<name>/task.json (g2.eval.task.v1): the language instruction, the objects and their start poses, the per-episode randomization, the success relations and the episode time limit. <name> is the environment's name.
tasks/<name>/geometry.json: each object's convex hull, receive opening and bounding box in its body frame, which the success relations read (in: the object's bottom below the target's opening and its centre within the target's footprint; on; upright; for the tasks collected before the data engine their collection's own checks: placed, above, inserted, in_bin).
tasks/<name>/preview.png: the head camera at the start of the episode the task was approved from.
manifest.json: every file's bytes and SHA-256. Download only the revision the evaluation code pins and verify it.

No code is executed from this pack. See LICENSE.md for sources and licences.