placo pulls in pin (Pinocchio), whose binary wheels dlopen specific cmeel
sonames (liburdfdom_sensor.so.4.0, libtinyxml2.so.10) but declare only `>=`
floors on their cmeel packages. The 2026-05-21 major bumps (cmeel-urdfdom
6.0.0 -> .so.6, cmeel-tinyxml2 11.0.0 -> .so.11) ship newer sonames, so left
unpinned the resolver grabs them and `import placo` fails at load with
"liburdfdom_sensor.so.4.0: cannot open shared object file".
#3647 capped placo and hardened the kinematics import, but the guard only
defers the failure: constructing RobotKinematics still raises. Pin the cmeel
packages to the 4.x / 10.x ABI the placo/pin wheels are built against (there
is no cmeel-urdfdom 5.x; <5 selects 4.x). Regenerated uv.lock with uv 0.8.0
to match CI; the only resolution change is the two cmeel versions (plus a
deterministic decord platform-marker cascade from 4.0.1's wider wheel set).
Fixes#3755
* feat(eval): record eval rollouts as raw LeRobot datasets
- Record raw env observations inline during rollout(), before
preprocess_observation() transforms them. Uses LeRobotDataset.create()
with add_frame()/save_episode().
- Supports vectorized envs: each env in the batch records independently,
with save_episode() called per env on termination. Each task gets its
own dataset under output_dir/recordings/{task_group}_{task_id}/.
Enabled via --eval.recording=true; disabled by default.
* fix(eval): use FeatureType enum comparison instead of string value
* refactor(eval): per-env datasets recording, no double reset
- Extract _infer_shape_from_obs() to reduce nesting in feature conversion
- Move dataset creation into rollout() using its own env.reset() observation,
eliminating the extra reset in run_one()
- Replace deepcopy with _shallow_copy_obs() for raw observation stashing
- Support batch_size > 1: each parallel env records to its own dataset
(single env skips the env_0/ nesting for simplicity)
- One-time warning for env_features keys missing from observations
- Pass recording_dir + env_features through the call chain instead of
a pre-built recording_dataset object
* refactor(eval): remove shape inference and shallow copy helpers
* feat(eval): optionally push recorded eval datasets to the Hub
* fix(eval): address review comments
- Wrap rollout loop in try/finally so finalize() runs on crash/interrupt
- Guard push_to_hub with num_episodes > 0 to avoid pushing empty datasets
- Hoist loop-invariant multi_env and base_repo_id out of creation loop
Caroline Pascal