WidowX embodiment + OpenVLA/openpi policy plugin#2
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Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
…delity Addresses critique round 1: rotation_repr=none (DeltaLimitApprover rejects euler pose modes; honest euler_xyz tracked as inspect-robots#143); scalar max_delta gripper-pinning warning replaces the wrong 20-step claim; state is 7-D xyz+euler+gripper (no quat on the wire); move() takes a 4x4 matrix blocking=True with a quat conversion helper; client-side 256 lanczos+JPEG resize in the default transport; WidowXStatus error propagation; dead cv2 contingency and inert image_size dropped. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
…chanics Round 2: the documented start quat cannot reproduce the reference wrapper's rotation (the gap is the controller's default-rotation compose), so START_TRANSFORM ships the wrapper's matrix verbatim and start_eef_quat is gone; observation_space(include_state) splits embodiment vs policy declarations; the Status IntEnum mirrors all four upstream ints with by-value comparison and guarded rendering; pillow joins deps/overrides/ hygiene; fault-contract and matrix-fixture tests added. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
START_TRANSFORM reference matrix, rotation_repr=none decision documented (inspect-robots#143), observation_space(include_state) split. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
Status IntEnum mirrors all four upstream codes; non-SUCCESS always raises; git-only install commands pin frozen upstream HEADs. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
Client-side 256 lanczos + JPEG round-trip in the default OpenVLA transport only; preflight --json carries dry_run. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
canary.yml and release.yml byte-copied from inspect-robots-franka. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
…period Review finding: the blocking reset move commanded a ~74 degree reorientation as a 0.2 s trajectory (the per-step move_duration is the wrong knob; the pinned upstream controller honors duration for the move path). New start_move_duration_s field defaults to the reference wrapper's 0.8 s. Also: RUNTIME_REQUIREMENTS on OpenpiPolicy for the git-only client, a non-default wiring test for env params and pacing, README notes on the camera-topic limitation and the openpi entry-point collision, and the plan amendment recording the hardcoded camera_topics. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
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Closes #1
Implements the WidowX 250S sibling per
plans/0001-widowx-openvla-design.md: awidowxembodiment wrapping the BridgeData widowx_envs ZMQ client (7-D eef_delta_pose contract at 5 Hz), anopenvlaREST /act client, and anopenpiwebsocket client. Full house scaffolding.Plan critique loop and implementation land as follow-up commits on this branch.
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