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68eed61 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 | """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()
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