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Pepijn
3fccf57965
- 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>