Fix MetaWorld named image observation contract - #2
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MetaWorld advertised observation.images.<camera> in its public EnvContract, but its raw pixels observation was a single ndarray. LeRobot preprocesses that shape as observation.image, so the public contract and the policy-facing rollout observation could diverge. Represent MetaWorld pixels as a camera-keyed dict, derive default feature keys and feature maps from camera_name, and pass camera_name through dummy env construction used for async/vector space inference. Update the public docs to name the default corner2 key and add regression coverage at the vector-env preprocessing boundary. Verification: - PYTHONPATH=src /projects/bhba/cliu35/praxis/.venv/bin/python -m pytest tests/src/praxis_eval/envs/metaworld/test_metaworld_factory.py tests/src/praxis_eval/envs/test_env_factory.py tests/test_api.py tests/test_verify_scripts.py -q - /projects/bhba/cliu35/praxis/.venv/bin/pre-commit run --files docs/benchmarks/metaworld.md src/praxis_eval/envs/metaworld/__init__.py src/praxis_eval/envs/metaworld/config.py src/praxis_eval/envs/metaworld/env.py src/praxis_eval/envs/metaworld/eval.py src/praxis_eval/envs/metaworld/registration.py src/praxis_eval/envs/metaworld/runtime.py tests/src/praxis_eval/envs/metaworld/test_metaworld_factory.py - PATH=/projects/bhba/cliu35/praxis/.venv/bin:$PATH npm --prefix docs run docs:check && PATH=/projects/bhba/cliu35/praxis/.venv/bin:$PATH npm --prefix docs run docs:build - PYTHONPATH=src MUJOCO_GL=egl /projects/bhba/cliu35/praxis/.venv/bin/python -m praxis_eval.scripts.verify metaworld --task reach-v3 --max-episode-steps 1 --image-size 64 --output-dir /tmp/praxis-eval-metaworld-contract-verify
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Summary
Fix the MetaWorld observation contract so the source behavior matches the public
EnvContractand documentation.MetaWorld advertised
observation.images.<camera>, but its raw Gym observation exposedpixelsas a single ndarray. LeRobot preprocesses that shape into the singletonobservation.imagekey, so policies could receive a different key than the contract promised.This PR changes MetaWorld to expose
pixelsas a camera-keyed dict, derives the feature map fromcamera_name, and passescamera_namethrough the dummy env path used for vector/async space inference. The docs now call out the defaultobservation.images.corner2key and the custom-camera convention.Validation
PYTHONPATH=src /projects/bhba/cliu35/praxis/.venv/bin/python -m pytest tests/src/praxis_eval/envs/metaworld/test_metaworld_factory.py tests/src/praxis_eval/envs/test_env_factory.py tests/test_api.py tests/test_verify_scripts.py -q/projects/bhba/cliu35/praxis/.venv/bin/pre-commit run --files docs/benchmarks/metaworld.md src/praxis_eval/envs/metaworld/__init__.py src/praxis_eval/envs/metaworld/config.py src/praxis_eval/envs/metaworld/env.py src/praxis_eval/envs/metaworld/eval.py src/praxis_eval/envs/metaworld/registration.py src/praxis_eval/envs/metaworld/runtime.py tests/src/praxis_eval/envs/metaworld/test_metaworld_factory.pyPATH=/projects/bhba/cliu35/praxis/.venv/bin:$PATH npm --prefix docs run docs:check && PATH=/projects/bhba/cliu35/praxis/.venv/bin:$PATH npm --prefix docs run docs:buildPYTHONPATH=src MUJOCO_GL=egl /projects/bhba/cliu35/praxis/.venv/bin/python -m praxis_eval.scripts.verify metaworld --task reach-v3 --max-episode-steps 1 --image-size 64 --output-dir /tmp/praxis-eval-metaworld-contract-verify