fix(robotwin): sync ROBOTWIN_TASKS + doc with upstream (50 tasks)

The local ROBOTWIN_TASKS tuple drifted from upstream
RoboTwin-Platform/RoboTwin. Users passing names like `close_laptop`,
`close_microwave`, `dump_bin`, `place_block`, `pour_water`,
`fold_cloth`, etc. got past our validator (the names were in the
tuple) but then crashed inside robosuite with a confusing error,
because those tasks don't exist in upstream `envs/`.

- Replace ROBOTWIN_TASKS with a verbatim mirror of upstream's
  `envs/` directory: 50 tasks as of main (was 60 with many
  stale entries). Added a `gh api`-based one-liner comment so
  future bumps are mechanical.
- Update the `60 tasks` claims in robotwin.mdx and
  RoboTwinEnvConfig's docstring to `50`.
- Replace the stale example-task table in robotwin.mdx with ten
  upstream-confirmed examples, and flag `open_laptop` as
  temporarily broken (its `check_success()` uses `self.arm_tag`
  which is only set inside `play_once()`; eval-mode callers hit
  AttributeError).
- Rebuild the "Full benchmark" command with the actual 50-task
  list, omitting `open_laptop`.

Made-with: Cursor

docs/source/robotwin.mdx

@@ -1,6 +1,6 @@
 # RoboTwin 2.0
 
-RoboTwin 2.0 is a **large-scale dual-arm manipulation benchmark** built on the SAPIEN physics engine. It provides a standardized evaluation protocol for bimanual robotic policies across 60 tasks with strong domain randomization (clutter, lighting, background, tabletop height, and language instructions).
+RoboTwin 2.0 is a **large-scale dual-arm manipulation benchmark** built on the SAPIEN physics engine. It provides a standardized evaluation protocol for bimanual robotic policies across 50 tasks (as of upstream `main`) with strong domain randomization (clutter, lighting, background, tabletop height, and language instructions).
 
 - Paper: [RoboTwin 2.0: A Scalable Data Generator and Benchmark with Strong Domain Randomization for Robust Bimanual Robotic Manipulation](https://arxiv.org/abs/2506.18088)
 - GitHub: [RoboTwin-Platform/RoboTwin](https://github.com/RoboTwin-Platform/RoboTwin)
@@ -13,7 +13,7 @@ RoboTwin 2.0 is a **large-scale dual-arm manipulation benchmark** built on the S
 
 | Property      | Value                                                    |
 | ------------- | -------------------------------------------------------- |
-| Tasks         | 60 dual-arm manipulation tasks                           |
+| Tasks         | 50 dual-arm manipulation tasks                           |
 | Robot         | Aloha-AgileX bimanual (14 DOF, 7 per arm)                |
 | Action space  | 14-dim joint-space, continuous in `[-1, 1]`              |
 | Cameras       | `head_camera`, `left_camera`, `right_camera`             |
@@ -23,21 +23,31 @@ RoboTwin 2.0 is a **large-scale dual-arm manipulation benchmark** built on the S
 
 ## Available tasks
 
-RoboTwin 2.0 ships with 60 dual-arm manipulation tasks. The full list appears on the [leaderboard](https://robotwin-platform.github.io/leaderboard). Example tasks:
+RoboTwin 2.0 ships 50 dual-arm manipulation tasks in its upstream `envs/` directory. The canonical list is the `ROBOTWIN_TASKS` tuple in `src/lerobot/envs/robotwin.py`, mirrored verbatim from the upstream repo. Example tasks:
 
-| Task                   | CLI name                 | Category         |
+| Task                     | CLI name                 | Category          |
-| ---------------------- | ------------------------ | ---------------- |
+| ------------------------ | ------------------------ | ----------------- |
-| Beat block with hammer | `beat_block_hammer`      | Tool use         |
+| Beat block with hammer   | `beat_block_hammer`      | Tool use          |
-| Open / close laptop    | `open_laptop`            | Articulated obj  |
+| Click bell / alarm clock | `click_bell`             | Precision press   |
-| Stack blocks (2 / 3)   | `stack_blocks_two/three` | Stacking         |
+| Stack blocks (2 / 3)     | `stack_blocks_two/three` | Stacking          |
-| Pour water             | `pour_water`             | Deformable/fluid |
+| Stack bowls (2 / 3)      | `stack_bowls_two/three`  | Stacking          |
-| Fold cloth             | `fold_cloth`             | Deformable       |
+| Handover block / mic     | `handover_block`         | Bimanual coord.   |
-| Handover block         | `handover_block`         | Bimanual coord.  |
+| Lift pot                 | `lift_pot`               | Bimanual lift     |
-| Place shoes            | `place_shoes_left/right` | Precision place  |
+| Shake bottle             | `shake_bottle`           | Continuous motion |
-| Scan object            | `scan_object`            | Mobile manip.    |
+| Turn switch              | `turn_switch`            | Articulated obj   |
+| Stamp seal               | `stamp_seal`             | Precision place   |
+| Scan object              | `scan_object`            | Mobile manip.     |
 
 Pass a comma-separated list to `--env.task` to run multiple tasks in a single eval sweep.
 
+<Tip warning={true}>
+  `open_laptop` is currently broken upstream (its `check_success()` uses
+  `self.arm_tag`, which is only set inside the scripted-expert `play_once()`
+  path and therefore unavailable during normal policy eval). Avoid it until the
+  upstream bug is fixed, or patch the task to default `self.arm_tag = "left"` in
+  `load_actors()`.
+</Tip>
+
 ## Dataset
 
 The RoboTwin 2.0 dataset is available in **LeRobot v3.0 format** on the Hugging Face Hub:
@@ -46,7 +56,7 @@ The RoboTwin 2.0 dataset is available in **LeRobot v3.0 format** on the Hugging
 lerobot/robotwin_unified
 ```
 
-It contains over 100,000 pre-collected trajectories across all 60 tasks (79.6 GB, Apache 2.0 license). No format conversion is needed — it is already in the correct LeRobot v3.0 schema with video observations and action labels.
+It contains over 100,000 pre-collected trajectories across all 50 tasks (79.6 GB, Apache 2.0 license). No format conversion is needed — it is already in the correct LeRobot v3.0 schema with video observations and action labels.
 
 You can load it directly with the HF Datasets library:
 
@@ -149,17 +159,23 @@ lerobot-eval \
   --eval.n_episodes=100
 ```
 
-### Full benchmark (all 60 tasks)
+### Full benchmark (all 50 tasks)
 
 ```bash
 lerobot-eval \
   --policy.path="your-hf-policy-id" \
   --env.type=robotwin \
-  --env.task=adjust_bottle,beat_block_hammer,blocks_ranking_rgb,blocks_ranking_size,click_alarmclock,click_bell,close_laptop,close_microwave,dump_bin,grab_roller,handover_block,handover_cup,handover_diverse_bottles,handover_mic,hanging_mug,insert_pin,lift_pot,make_tea,open_laptop,open_microwave,pick_diverse_bottles,pick_dual_bottles,place_basket,place_block,place_cable,place_can,place_chopsticks,place_cloth,place_container,place_cup,place_diverse_bottles,place_dual_bottles,place_fork,place_knife,place_object_basket,place_ring,place_ruler,place_shoes_left,place_shoes_right,place_spoon,place_toy,pour_water,press_stapler,put_bottles_dustbin,put_object_cabinet,put_shoes_box,rotate_qrcode,scan_object,shake_bottle,shake_bottle_horizontally,stack_blocks_three,stack_blocks_two,stack_bowls_three,stack_bowls_two,stamp_seal,turn_switch,wipe_board,arrange_tools,build_tower,fold_cloth \
+  --env.task=adjust_bottle,beat_block_hammer,blocks_ranking_rgb,blocks_ranking_size,click_alarmclock,click_bell,dump_bin_bigbin,grab_roller,handover_block,handover_mic,hanging_mug,lift_pot,move_can_pot,move_pillbottle_pad,move_playingcard_away,move_stapler_pad,open_microwave,pick_diverse_bottles,pick_dual_bottles,place_a2b_left,place_a2b_right,place_bread_basket,place_bread_skillet,place_burger_fries,place_can_basket,place_cans_plasticbox,place_container_plate,place_dual_shoes,place_empty_cup,place_fan,place_mouse_pad,place_object_basket,place_object_scale,place_object_stand,place_phone_stand,place_shoe,press_stapler,put_bottles_dustbin,put_object_cabinet,rotate_qrcode,scan_object,shake_bottle,shake_bottle_horizontally,stack_blocks_three,stack_blocks_two,stack_bowls_three,stack_bowls_two,stamp_seal,turn_switch \
   --eval.batch_size=1 \
   --eval.n_episodes=100
 ```
 
+<Tip>
+  `open_laptop` is intentionally omitted above because of the upstream
+  `self.arm_tag` bug (see the **Available tasks** section). Re-add it once the
+  upstream fix lands.
+</Tip>
+
 ## Camera configuration
 
 By default, all three cameras are included:

src/lerobot/envs/configs.py

@@ -581,7 +581,7 @@ class IsaaclabArenaEnv(HubEnvConfig):
 class RoboTwinEnvConfig(EnvConfig):
     """Configuration for RoboTwin 2.0 benchmark environments.
 
-    RoboTwin 2.0 is a dual-arm manipulation benchmark with 60 tasks built on the
+    RoboTwin 2.0 is a dual-arm manipulation benchmark with 50 tasks built on the
     SAPIEN simulator. The robot is an Aloha-AgileX bimanual platform with 14 DOF
     (7 per arm). All three cameras are enabled by default.
 

src/lerobot/envs/robotwin.py

@@ -44,7 +44,11 @@ DEFAULT_EPISODE_LENGTH = 300
 DEFAULT_CAMERA_H = 240
 DEFAULT_CAMERA_W = 320
 
-# Complete task list from RoboTwin 2.0 (60 tasks, as listed on the leaderboard).
+# Task list from RoboTwin 2.0's `envs/` directory — mirrors upstream exactly
+# (50 tasks as of main; earlier revisions had 60 with a different split).
+# Keep this in sync with:
+#   gh api /repos/RoboTwin-Platform/RoboTwin/contents/envs --paginate \
+#     | jq -r '.[].name' | grep -E '\.py$' | grep -v '^_' | sed 's/\.py$//'
 ROBOTWIN_TASKS: tuple[str, ...] = (
     "adjust_bottle",
     "beat_block_hammer",
@@ -52,46 +56,40 @@ ROBOTWIN_TASKS: tuple[str, ...] = (
     "blocks_ranking_size",
     "click_alarmclock",
     "click_bell",
-    "close_laptop",
+    "dump_bin_bigbin",
-    "close_microwave",
-    "dump_bin",
     "grab_roller",
     "handover_block",
-    "handover_cup",
-    "handover_diverse_bottles",
     "handover_mic",
     "hanging_mug",
-    "insert_pin",
     "lift_pot",
-    "make_tea",
+    "move_can_pot",
+    "move_pillbottle_pad",
+    "move_playingcard_away",
+    "move_stapler_pad",
     "open_laptop",
     "open_microwave",
     "pick_diverse_bottles",
     "pick_dual_bottles",
-    "place_basket",
+    "place_a2b_left",
-    "place_block",
+    "place_a2b_right",
-    "place_cable",
+    "place_bread_basket",
-    "place_can",
+    "place_bread_skillet",
-    "place_chopsticks",
+    "place_burger_fries",
-    "place_cloth",
+    "place_can_basket",
-    "place_container",
+    "place_cans_plasticbox",
-    "place_cup",
+    "place_container_plate",
-    "place_diverse_bottles",
+    "place_dual_shoes",
-    "place_dual_bottles",
+    "place_empty_cup",
-    "place_fork",
+    "place_fan",
-    "place_knife",
+    "place_mouse_pad",
     "place_object_basket",
-    "place_ring",
+    "place_object_scale",
-    "place_ruler",
+    "place_object_stand",
-    "place_shoes_left",
+    "place_phone_stand",
-    "place_shoes_right",
+    "place_shoe",
-    "place_spoon",
-    "place_toy",
-    "pour_water",
     "press_stapler",
     "put_bottles_dustbin",
     "put_object_cabinet",
-    "put_shoes_box",
     "rotate_qrcode",
     "scan_object",
     "shake_bottle",
@@ -102,10 +100,6 @@ ROBOTWIN_TASKS: tuple[str, ...] = (
     "stack_bowls_two",
     "stamp_seal",
     "turn_switch",
-    "wipe_board",
-    "arrange_tools",
-    "build_tower",
-    "fold_cloth",
 )