code/smoke_env.py

"""Env-only smoke test (no GR00T server): build VerbObjectColor-v1 via
groot_main._build_env_and_instruction for a few experiments, reset+step,
print obs/info structure. Validates the ManiSkill side + our kwargs + GPU sim.
"""
import sys, numpy as np
sys.path.insert(0, "/workspace/groot_eval/harness")
from groot_main import _build_env_and_instruction, _state8, _to_hwc_uint8, Args, SPATIAL_ANCHORS, SPATIALS

CASES = [
    dict(experiment="color_object", pair_i=0, pair_j=1, run_type="color"),
    dict(experiment="spatial_object", pair_i=0, pair_j=1, run_type="spatial"),
]
for c in CASES:
    a = Args(sim_backend=sys.argv[1] if len(sys.argv) > 1 else "gpu",
             max_episode_steps=40, third_seed=42, seed=42, **c)
    print(f"\n==== {c} ====")
    env, instr = _build_env_and_instruction(a)
    print("instruction:", repr(instr))
    if a.experiment in {"verb_spatial","color_spatial","spatial_size","spatial_object"}:
        ai = list(SPATIAL_ANCHORS[SPATIALS[a.pair_i]]); aj = list(SPATIAL_ANCHORS[SPATIALS[a.pair_j]])
        ropts = {"num_distractors": 1, "obj_xy": ai, "distractor_xy": [aj]}
    else:
        ropts = {"num_distractors": 1}
    obs, _ = env.reset(seed=42, options=ropts)
    sd = obs["sensor_data"]
    print("sensor_data keys:", list(sd.keys()))
    b = _to_hwc_uint8(sd["base_camera"]["rgb"]); h = _to_hwc_uint8(sd["hand_camera"]["rgb"])
    print("base img", b.shape, b.dtype, "wrist img", h.shape, h.dtype)
    s = _state8(env); print("state8", s.shape, s.dtype, np.round(s, 3))
    act = np.zeros(8, np.float32)
    for t in range(5):
        obs, r, term, trunc, info = env.step(act)
    print("info keys:", sorted(info.keys()))
    for k in ("success", "success_first_axis", "success_second_axis"):
        print(f"  {k} = {info.get(k)}")
    env.close()
print("\nSMOKE_ENV_OK")