| """One reset/one neutral simulated control, with no policy or training.""" |
| from __future__ import annotations |
|
|
| import json |
| from pathlib import Path |
|
|
| import numpy as np |
| import simpler_env |
|
|
| from scripts.bridge_recovery_contract import normalize_reached_delta, reached_delta_raw |
| from scripts.eval_widowx_simpler import proprio |
|
|
|
|
| OUTPUT = Path('.artifacts/bridge_zeva_recovery_v2/simpler_reached_state_probe.json') |
|
|
|
|
| def main(): |
| env = simpler_env.make('widowx_carrot_on_plate', renderer_kwargs=dict(device='cuda:0', offscreen_only=True)) |
| try: |
| obs, _ = env.reset(seed=20260924) |
| before = proprio(env, 'bridge_tool') |
| command = np.array([0, 0, 0, 0, 0, 0, 1], np.float32) |
| _, _, terminated, truncated, info = env.step(command) |
| after = proprio(env, 'bridge_tool') |
| raw = reached_delta_raw(before[:6], after[:6], command[6]) |
| output = dict(seed=20260924, task='widowx_carrot_on_plate', |
| robot_state_source='env.unwrapped.agent.robot.pose.inv() * env.unwrapped.tcp.pose', |
| proprio_convention='bridge_tool', command=command.tolist(), |
| before=before.tolist(), after=after.tolist(), |
| reached_delta_raw=raw.tolist(), |
| reached_delta_normalized=normalize_reached_delta(raw).tolist(), |
| terminated=bool(terminated), truncated=bool(truncated), |
| success=bool(info.get('success', False)), |
| note='Confirms live measured-pose access and update timing, not calibration against real Bridge tool/FK labels') |
| OUTPUT.parent.mkdir(parents=True, exist_ok=True) |
| OUTPUT.write_text(json.dumps(output, indent=2) + '\n') |
| print(json.dumps(output, indent=2), flush=True) |
| finally: |
| env.close() |
|
|
|
|
| if __name__ == '__main__': |
| main() |
|
|
