- 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>
robocasa's upstream setup.py hardcodes `lerobot==0.3.3` in
install_requires. Exposing it as the `lerobot[robocasa]` extra made
uv's dep resolver cycle: `lerobot[robocasa]` -> robocasa -> lerobot
(a different version) -> unsolvable. This broke every `uv sync` — even
invocations with an unrelated extra like `--extra test` — because uv
validates the whole lockfile graph.
- Remove the `robocasa` extra from pyproject.toml. Installation
instructions in docs/source/robocasa.mdx now walk users through the
manual `git clone` + `pip install --no-deps` flow, which matches
what the Docker image already does and sidesteps the cyclic dep
entirely.
- Dockerfile: `uv pip install -e ~/robocasa --no-deps` so the
shadowed lerobot==0.3.3 never lands in the image; install
robocasa's actual runtime deps (numpy, numba, scipy, mujoco,
tianshou, etc.) explicitly.
Made-with: Cursor
RoboCasa's lightwheel kitchen fixtures embed references to
`generative_textures/wall/tex*.png` directly in their MuJoCo XML, so
`MjModel.from_xml_string` errors out at reset time with
"No such file or directory" even when the env is constructed with
`generative_textures=None`. The generative textures live under a
separate asset registry key (`tex_generative`) in
`download_kitchen_assets`, distinct from the base `tex` pack we were
already fetching.
- Add `tex_generative` to the download list so the fixture XMLs
resolve.
- Document the remaining omissions (objaverse/aigen, ~30GB) and how
the runtime side pairs this with obj_registries=["lightwheel"] to
avoid sampling from categories whose assets aren't on disk.
Made-with: Cursor
Kitchen tasks (e.g. CloseFridge) reference lightwheel object meshes
like Stool022/model.xml. fixtures_lw alone isn't enough — we also
need objs_lw. Still skipping objaverse/aigen to keep image size down.
Made-with: Cursor
The nightly huggingface/lerobot-gpu image predates the RoboCasaEnv
registration — so `lerobot-eval --env.type=robocasa` fails at argparse
with "invalid choice" even after COPY . . overlays the new source.
Force an editable reinstall so the venv picks up the current configs.py.
Made-with: Cursor
- pip install from git omits data files like box_links_assets.json
(not declared in package_data). Clone and install editable so the
source tree is used at runtime.
- Download only tex + fixtures_lw asset types (smoke test doesn't need
objaverse/aigen objects). Pipe 'y' to auto-accept download prompt.
- Switch CI policy from pepijn223/smolvla_robocasa to lerobot/smolvla_robocasa.
Made-with: Cursor
The huggingface/lerobot-gpu base image uses `uv` with a venv at
/lerobot/.venv — `pip` is not on PATH, so `pip install` fails with
"pip: not found". Switch to `uv pip install` which installs into the
existing venv.
Also drop the @v1.0.0 tag pin from the robocasa git URL since the
upstream repo may not have that tag; use default branch instead.
Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
Pepijn