CloseFridge (and most kitchen tasks) crashed at reset with
`ValueError: Probabilities contain NaN` coming out of
`sample_kitchen_object_helper`. RoboCasa's upstream default
`obj_registries=("objaverse", "lightwheel")` normalizes per-registry
candidate counts as probabilities; when a sampled category has zero
mjcf paths in every configured registry (because the objaverse asset
pack isn't on disk — ~30GB, skipped by our Docker build), the 0/0
divide yields NaNs and `rng.choice` raises.
- Add `obj_registries: list[str] = ["lightwheel"]` to `RoboCasaEnv`
config; thread it through `create_robocasa_envs`, `_make_env_fns`,
and the gym.Env wrapper to the underlying `RoboCasaGymEnv` (which
forwards to `create_env` → `robosuite.make` → kitchen env).
- Default matches what `download_kitchen_assets --type objs_lw`
actually ships, so the env works out of the box without a 30GB
objaverse download.
- Document the override (`--env.obj_registries='[objaverse,lightwheel]'`)
for users who have downloaded the full asset set.
Made-with: Cursor
Pepijn
81ee2952a3