fix: integrate PR #3375 review feedback

- envs(robocasa): hoist the duplicated `_parse_camera_names` helper
  out of `libero.py` and `robocasa.py` into `envs/utils.py` as the
  public `parse_camera_names`; call sites updated.
- envs(robocasa): give each factory a distinct `episode_index`
  (`0..n_envs-1`) and derive a per-worker seed series in `reset()`
  so n_envs workers don't all roll the same scene under a shared
  outer seed.
- envs(robocasa): drop the unused `**kwargs` on `_make_env`; declare
  `visualization_height` / `visualization_width` on both the wrapper
  and the `RoboCasaEnv` config + propagate via `gym_kwargs`.
- envs(robocasa): emit `info["final_info"]` on termination (matching
  MetaWorld) so downstream vector-env auto-reset keeps the terminal
  task/success flags.
- docs(robocasa): add `--rename_map` (robot0_agentview_left/
  eye_in_hand/agentview_right → camera1/2/3) plus CI-parity flags to
  all three eval snippets.
- docker(robocasa): pin robocasa + robosuite git SHAs and the pip
  dep versions (pygame, Pillow, opencv-python, pyyaml, pynput, tqdm,
  termcolor, imageio, h5py, lxml, hidapi, gymnasium) for
  reproducible benchmark images.
- ci(robocasa): update the workflow comment — there is no
  `lerobot[robocasa]` extra; robocasa/robosuite are installed
  manually because upstream's `lerobot==0.3.3` pin shadows ours.

Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>

docs/source/robocasa.mdx

@@ -74,6 +74,8 @@ By default the env samples objects only from the `lightwheel` registry (what `--
 
 ## Evaluation
 
+All eval snippets below mirror the CI command (see `.github/workflows/benchmark_tests.yml`). The `--rename_map` argument maps RoboCasa's native camera keys (`robot0_agentview_left` / `robot0_eye_in_hand` / `robot0_agentview_right`) onto the three-camera (`camera1` / `camera2` / `camera3`) input layout the released `smolvla_robocasa` policy was trained on.
+
 ### Single-task evaluation (recommended for quick iteration)
 
 ```bash
@@ -82,7 +84,10 @@ lerobot-eval \
   --env.type=robocasa \
   --env.task=CloseFridge \
   --eval.batch_size=1 \
-  --eval.n_episodes=20
+  --eval.n_episodes=20 \
+  --eval.use_async_envs=false \
+  --policy.device=cuda \
+  '--rename_map={"observation.images.robot0_agentview_left": "observation.images.camera1", "observation.images.robot0_eye_in_hand": "observation.images.camera2", "observation.images.robot0_agentview_right": "observation.images.camera3"}'
 ```
 
 ### Multi-task evaluation
@@ -95,7 +100,10 @@ lerobot-eval \
   --env.type=robocasa \
   --env.task=CloseFridge,OpenCabinet,OpenDrawer,TurnOnMicrowave,TurnOffStove \
   --eval.batch_size=1 \
-  --eval.n_episodes=20
+  --eval.n_episodes=20 \
+  --eval.use_async_envs=false \
+  --policy.device=cuda \
+  '--rename_map={"observation.images.robot0_agentview_left": "observation.images.camera1", "observation.images.robot0_eye_in_hand": "observation.images.camera2", "observation.images.robot0_agentview_right": "observation.images.camera3"}'
 ```
 
 ### Benchmark-group evaluation
@@ -108,7 +116,10 @@ lerobot-eval \
   --env.type=robocasa \
   --env.task=atomic_seen \
   --eval.batch_size=1 \
-  --eval.n_episodes=20
+  --eval.n_episodes=20 \
+  --eval.use_async_envs=false \
+  --policy.device=cuda \
+  '--rename_map={"observation.images.robot0_agentview_left": "observation.images.camera1", "observation.images.robot0_eye_in_hand": "observation.images.camera2", "observation.images.robot0_agentview_right": "observation.images.camera3"}'
 ```
 
 ### Recommended evaluation episodes