Performance of Aloha_sim examples

[hypercosmac]

Thanks for opensourcing! I just ran the Aloha simulation example in the repository and got this output video I modified the FPS from 50 to 25 FPS since 50 was too fast. Tried increasing the video resolution but got the warning: The obs returned by the step() method is not within the observation space.
and the video resolution didn't increase.

In the video, it doesn't look like the robot arms are successful at the gymnasium tasks. The original implementations seem to be far better. Has anyone else noticed this? Are there other simulation examples where pi0 has performed stronger?

out_4.mp4

[hypercosmac]

Just saw this: #319 (comment)