Fix rotations + helper scripts for dataset conversions + task included in environment

[danielsanjosepro]

No description provided.

[Copilot]

Pull request overview

This PR introduces fixes for rotation vector discontinuities in datasets and environments, adds helper scripts for dataset transformations, and includes task descriptions in environment observations. The main changes address rotation vector representation issues in angle-axis format by ensuring consistency across episode boundaries.

Key changes:

• Implements rotation vector discontinuity fixes in ManipulatorBaseEnv to prevent jumps between frames
• Adds four helper scripts for dataset conversions (feature removal, relative-to-absolute actions, rotation fixes, and gripper action binarization)
• Integrates task descriptions into the environment observation space

Reviewed changes

Copilot reviewed 6 out of 6 changed files in this pull request and generated 11 comments.

Show a summary per file

File	Description
helpers/remove_features_from_dataset.py	New script to create datasets with specified features removed; includes test break at episode 3
helpers/relative_actions_to_absolute_actions_dataset.py	New script converting relative actions to absolute using target information
helpers/fix_rotation_vectors_in_dataset.py	New script applying rotation vector discontinuity fixes to existing datasets
helpers/convert_gripper_to_binary_actions.py	New script converting continuous gripper actions to binary commands based on state threshold
crisp_gym/envs/manipulator_env.py	Adds rotation vector flipping logic, task parameter to constructor, and orientation consistency checks
crisp_gym/config/policy/0_default_config.yaml	Comments out multi-step sampling override configuration

Comments suppressed due to low confidence (2)

crisp_gym/envs/manipulator_env.py:178

• This comment appears to contain commented-out code.

            # if _point_in_opposite_direction(previous_rotation_vector, rotation_vector):
            #     cartesian_pose[3:] = -rotation_vector

helpers/relative_actions_to_absolute_actions_dataset.py:17

• This comment appears to contain commented-out code.

# for frame in dataset:
#     image = einops.rearrange(frame["observation.images.wrist"], "c h w -> h w c")
#     break

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