Feature/turtle2 generic deploy env#1152
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Signed-off-by: MuggleZzzH <2558818257@qq.com>
Signed-off-by: MuggleZzzH <2558818257@qq.com>
Signed-off-by: MuggleZzzH <2558818257@qq.com>
Signed-off-by: MuggleZzzH <2558818257@qq.com>
Signed-off-by: MuggleZzzH <2558818257@qq.com>
Signed-off-by: MuggleZzzH <2558818257@qq.com>
Signed-off-by: MuggleZzzH <2558818257@qq.com>
Signed-off-by: MuggleZzzH <2558818257@qq.com>
Signed-off-by: MuggleZzzH <2558818257@qq.com>
Signed-off-by: MuggleZzzH <2558818257@qq.com>
relative_pose mode now applies DualRelativeFrame by default (use_relative_frame=True), matching the training wrapper contract where policy actions are in EE frame and observations are relative to reset pose. Use use_relative_frame=False to opt out. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com> Signed-off-by: MuggleZzzH <2558818257@qq.com>
Aligns apply_dual_pose_action_wrappers with the single-arm and dual-arm builders so that human reward labelling (KeyboardRewardDoneWrapper / KeyboardRewardDoneMultiStageWrapper) can be enabled via keyboard_reward_wrapper config. Defaults to None (disabled). Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com> Signed-off-by: MuggleZzzH <2558818257@qq.com>
Signed-off-by: MuggleZzzH <2558818257@qq.com>
Signed-off-by: MuggleZzzH <2558818257@qq.com>
Signed-off-by: MuggleZzzH <2558818257@qq.com>
Signed-off-by: MuggleZzzH <2558818257@qq.com>
Signed-off-by: MuggleZzzH <2558818257@qq.com>
Signed-off-by: Codex PR1082 Repro <codex-pr1082-repro@example.local>
Signed-off-by: Codex PR1082 Repro <codex-pr1082-repro@example.local>
Signed-off-by: Codex PR1082 Repro <codex-pr1082-repro@example.local>
Signed-off-by: Codex PR1082 Repro <codex-pr1082-repro@example.local>
Signed-off-by: Codex PR1082 Repro <codex-pr1082-repro@example.local>
Signed-off-by: Codex PR1082 Repro <codex-pr1082-repro@example.local>
Signed-off-by: Codex PR1082 Repro <codex-pr1082-repro@example.local>
Signed-off-by: Codex PR1082 Repro <codex-pr1082-repro@example.local>
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