Add video recording support to eval_runner.py#445
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Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com> Signed-off-by: Clemens Volk <cvolk@nvidia.com>
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## Summary - Removes `.unwrapped` from `make_registered_and_return_cfg` and `policy_runner.py` so Arena aligns with how Isaac Lab itself handles environments - `make_registered_and_return_cfg` now returns the wrapped env from `gym.make()` directly, consistent with Isaac Lab's RL scripts (`train.py`, `play.py`) which keep the wrapped env and pass it to the RL runner - Utility functions and tests that need to reach past the gym API boundary to Isaac Lab-specific attributes (`.scene`, `.cfg`, `.device`, `.termination_manager`) now use `env.unwrapped.X` explicitly at each access site - Keeping the wrapped env allows gym wrappers (e.g. `RecordVideo`) to be composed on top cleanly, without special-casing in `make_registered_and_return_cfg` ## Motivation PR #445 (video recording support) required adding `if render_mode is None: env = env.unwrapped` to conditionally skip unwrapping — an awkward workaround caused by Arena's convention of always returning the base env. This refactor removes the root cause. --------- Signed-off-by: Clemens Volk <cvolk@nvidia.com>
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Summary
Adds the ability to record videos of evaluation jobs via
--videoflag. Each job produces an mp4 in a per-job subdirectory under--video_dir