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fix(robotwin): expose _max_episode_steps for lerobot_eval.rollout

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rollout() does `env.call("_max_episode_steps")` (lerobot_eval.py:157) to
know when to stop stepping. LiberoEnv and MetaworldEnv set this attribute;
RoboTwinEnv was tracking the limit under `episode_length` only, so the call
raised AttributeError once CuRobo finished warming up.

Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
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Pepijn
2026-04-14 20:00:36 +02:00
parent 61a0269560
commit ae113e0d99
1 changed files with 1 additions and 0 deletions
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src/lerobot/envs/robotwin.py
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@@ -247,6 +247,7 @@ class RoboTwinEnv(gym.Env):
self.observation_height = observation_height or setup_kwargs["head_camera_h"] self.observation_height = observation_height or setup_kwargs["head_camera_h"]
self.observation_width = observation_width or setup_kwargs["head_camera_w"] self.observation_width = observation_width or setup_kwargs["head_camera_w"]
self.episode_length = episode_length self.episode_length = episode_length
self._max_episode_steps = episode_length # lerobot_eval.rollout reads this
self.render_mode = render_mode self.render_mode = render_mode
self._env: Any | None = None # deferred — created on first reset() inside worker self._env: Any | None = None # deferred — created on first reset() inside worker