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Pepijn
1157fb11e6
- envs(robotwin): default `observation_height/width` in `create_robotwin_envs` to `DEFAULT_CAMERA_H/W` (240/320) so they match the D435 dims baked into `task_config/demo_clean.yml`. - envs(robotwin): resolve `task_config/demo_clean.yml` via `CONFIGS_PATH` instead of a cwd-relative path; works regardless of where `lerobot-eval` is invoked. - envs(robotwin): replace `print()` calls in `create_robotwin_envs` with `logger.info(...)` (module-level `logger = logging.getLogger`). - envs(robotwin): use `_LazyAsyncVectorEnv` for the async path so async workers start lazily (matches LIBERO / RoboCasa / VLABench). - envs(robotwin): cast `agent_pos` space + joint-state output to float32 end-to-end (was mixed float64/float32). - envs(configs): use the existing `_make_vec_env_cls(use_async, n_envs)` helper in `RoboTwinEnvConfig.create_envs`; drop the `get_env_processors` override so RoboTwin uses the identity processor inherited from `EnvConfig`. - processor: delete `RoboTwinProcessorStep` — the float32 cast now happens in the wrapper itself, so the processor is redundant. - tests: drop the `TestRoboTwinProcessorStep` suite; update the mock obs fixture to use float32 `joint_action.vector`. - ci: hoist `ROBOTWIN_POLICY` and `ROBOTWIN_TASKS` to job-level env vars so the task list and policy aren't duplicated across eval / extract / parse steps. - docker: pin RoboTwin + CuRobo upstream clones to commit SHAs (`RoboTwin@0aeea2d6`, `curobo@ca941586`) for reproducibility. Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>