From e3d03b8c6aa4b58493c8d542c8f809f8448d1467 Mon Sep 17 00:00:00 2001
From: rsasaki0109 <rsasaki0109@gmail.com>
Date: Thu, 4 Jun 2026 22:44:08 +0900
Subject: [PATCH] Add Pyodide Phase-0 PoC: run the real pick_and_retry loop in
 the browser

Implements Phase 0 from docs/pyodide_playground_strategy.md.

- scripts/build_pyodide_bundle.py: zip the pure-Python pir package + the
  pick_and_retry example (~24 KB) for in-browser loading.
- docs/pyodide/poc.html: loads Pyodide, loads numpy, unpacks the bundle, and
  runs the UNMODIFIED run(seed, render=False), printing Trace.summary() with
  per-stage timings. Blocks matplotlib so the headless path can never silently
  pull it. Uses zip + unpackArchive (not micropip) to avoid resolving the
  declared matplotlib dependency and keep the download tiny.
- docs/pyodide/pir_bundle.zip: the committed bundle (also rebuilt on Pages deploy).
- tests/test_pyodide_bundle.py: pins the zip contents byte-for-byte to the
  source tree (drift guard) and asserts the bundled loop runs headless with
  matplotlib blocked.
- pages.yml: rebuild the bundle from source before deploy; trigger Pages on
  pir/** and the builder too.
- pyodide_playground_strategy.md: mark Phase 0 built and record the packaging
  decision + verification.

Python path verified locally by simulating Pyodide's unpack-into-cwd with the
exact HTML driver: {"steps":4,"success":true,"failure_counts":{"grasp_miss":2},
"total_reward":0.69}, identical to the --no-render CLI. Browser-side JS glue
(loadPyodide/unpackArchive/fetch + first-load time) still needs a real browser.

Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
---
 .github/workflows/pages.yml         |  10 ++
 docs/pyodide/pir_bundle.zip         | Bin 0 -> 24057 bytes
 docs/pyodide/poc.html               | 150 ++++++++++++++++++++++++++++
 docs/pyodide_playground_strategy.md |  24 ++++-
 scripts/build_pyodide_bundle.py     |  50 ++++++++++
 tests/test_pyodide_bundle.py        |  75 ++++++++++++++
 6 files changed, 305 insertions(+), 4 deletions(-)
 create mode 100644 docs/pyodide/pir_bundle.zip
 create mode 100644 docs/pyodide/poc.html
 create mode 100644 scripts/build_pyodide_bundle.py
 create mode 100644 tests/test_pyodide_bundle.py

diff --git a/.github/workflows/pages.yml b/.github/workflows/pages.yml
index e836939..6e4d612 100644
--- a/.github/workflows/pages.yml
+++ b/.github/workflows/pages.yml
@@ -5,6 +5,8 @@ on:
     branches: ["main"]
     paths:
       - "docs/**"
+      - "pir/**"
+      - "scripts/build_pyodide_bundle.py"
       - ".github/workflows/pages.yml"
   workflow_dispatch:
 
@@ -29,6 +31,14 @@ jobs:
       - name: Check out repository
         uses: actions/checkout@v4
 
+      - name: Set up Python
+        uses: actions/setup-python@v5
+        with:
+          python-version: "3.12"
+
+      - name: Rebuild Pyodide bundle from source
+        run: python3 scripts/build_pyodide_bundle.py
+
       - name: Configure GitHub Pages
         uses: actions/configure-pages@v5
 
diff --git a/docs/pyodide/pir_bundle.zip b/docs/pyodide/pir_bundle.zip
new file mode 100644
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diff --git a/docs/pyodide/poc.html b/docs/pyodide/poc.html
new file mode 100644
index 0000000..7f0578c
--- /dev/null
+++ b/docs/pyodide/poc.html
@@ -0,0 +1,150 @@
+<!DOCTYPE html>
+<html lang="en">
+<head>
+<meta charset="utf-8" />
+<meta name="viewport" content="width=device-width, initial-scale=1" />
+<title>Pyodide PoC — real pick_and_retry loop in the browser</title>
+<style>
+  body { font-family: system-ui, sans-serif; max-width: 760px; margin: 2rem auto; padding: 0 1rem; line-height: 1.5; color: #1b1b1b; }
+  h1 { font-size: 1.4rem; }
+  p.lede { color: #444; }
+  button { font-size: 1rem; padding: 0.5rem 1rem; border: 1px solid #888; border-radius: 6px; background: #f6f6f6; cursor: pointer; }
+  button:disabled { opacity: 0.5; cursor: default; }
+  #log { white-space: pre-wrap; background: #0f1419; color: #d6deeb; padding: 1rem; border-radius: 8px; margin-top: 1rem; font-family: ui-monospace, monospace; font-size: 0.85rem; min-height: 6rem; }
+  .ok { color: #9ece6a; }
+  .err { color: #f7768e; }
+  .dim { color: #7a88a0; }
+  code { background: #eee; padding: 0 0.25rem; border-radius: 3px; }
+</style>
+</head>
+<body>
+<h1>Proof of concept: the real Python loop, in your browser</h1>
+<p class="lede">
+  This page loads <a href="https://pyodide.org">Pyodide</a> (CPython + NumPy in
+  WebAssembly), unpacks the actual <code>pir</code> package, and runs the
+  <strong>unmodified</strong>
+  <code>examples/manipulation/01_pick_and_retry.py</code> loop headless — no
+  install, no server, no matplotlib. It prints the resulting
+  <code>Trace.summary()</code>. This is Phase&nbsp;0 from
+  <code>docs/pyodide_playground_strategy.md</code>: confirm the real loop runs in
+  the browser and measure load time before wiring it into the playground UI.
+</p>
+
+<button id="run">Run the real loop</button>
+<label style="margin-left:1rem;">seed
+  <input id="seed" type="number" value="3" style="width:4rem;" />
+</label>
+
+<div id="log" class="dim">Click “Run the real loop”. First run downloads Pyodide (~a few MB); later runs are cached.</div>
+
+<script>
+const logEl = document.getElementById("log");
+const runBtn = document.getElementById("run");
+const seedEl = document.getElementById("seed");
+let pyodideReadyPromise = null;
+
+function log(msg, cls) {
+  const span = document.createElement("span");
+  if (cls) span.className = cls;
+  span.textContent = msg + "\n";
+  logEl.appendChild(span);
+}
+function clearLog() { logEl.textContent = ""; logEl.className = ""; }
+const now = () => performance.now();
+const ms = (t) => `${(now() - t).toFixed(0)} ms`;
+
+async function ensurePyodide() {
+  if (pyodideReadyPromise) return pyodideReadyPromise;
+  pyodideReadyPromise = (async () => {
+    const t = now();
+    log("loading Pyodide runtime…", "dim");
+    // eslint-disable-next-line no-undef
+    const pyodide = await loadPyodide({ indexURL: "https://cdn.jsdelivr.net/pyodide/v0.27.2/full/" });
+    log(`  Pyodide ready (${ms(t)})`, "ok");
+
+    const tn = now();
+    log("loading numpy…", "dim");
+    await pyodide.loadPackage("numpy");
+    log(`  numpy ready (${ms(tn)})`, "ok");
+
+    const tz = now();
+    log("fetching + unpacking pir_bundle.zip…", "dim");
+    const buf = await (await fetch("./pir_bundle.zip")).arrayBuffer();
+    await pyodide.unpackArchive(buf, "zip");
+    log(`  bundle unpacked (${ms(tz)})`, "ok");
+
+    return pyodide;
+  })();
+  return pyodideReadyPromise;
+}
+
+const DRIVER = `
+import json, os, sys, time, importlib.util
+
+# unpackArchive extracts relative to the current working directory.
+cwd = os.getcwd()
+if cwd not in sys.path:
+    sys.path.insert(0, cwd)
+
+# Prove the browser path is matplotlib-free: block it so an accidental import
+# fails loudly instead of silently dragging in a multi-MB package.
+class _NoMatplotlib:
+    def find_spec(self, name, path=None, target=None):
+        if name == "matplotlib" or name.startswith("matplotlib."):
+            raise ImportError("matplotlib is intentionally unavailable on the headless browser path")
+        return None
+sys.meta_path.insert(0, _NoMatplotlib())
+
+path = os.path.join(cwd, "examples", "manipulation", "01_pick_and_retry.py")
+spec = importlib.util.spec_from_file_location("pick_and_retry", path)
+mod = importlib.util.module_from_spec(spec)
+spec.loader.exec_module(mod)
+
+t0 = time.perf_counter()
+trace = mod.run(seed=SEED, render=False)
+elapsed_ms = (time.perf_counter() - t0) * 1000.0
+
+s = trace.summary()
+result = {
+    "steps": s.steps,
+    "success": bool(s.success),
+    "failure_counts": dict(s.failure_counts),
+    "total_reward": round(sum(trace.rewards), 3),
+    "elapsed_ms": round(elapsed_ms, 1),
+}
+json.dumps(result)
+`;
+
+async function run() {
+  runBtn.disabled = true;
+  clearLog();
+  try {
+    const pyodide = await ensurePyodide();
+    const seed = parseInt(seedEl.value, 10) || 0;
+    const tr = now();
+    log(`running pick_and_retry.run(seed=${seed}, render=False)…`, "dim");
+    const code = DRIVER.replace("SEED", String(seed));
+    const out = JSON.parse(await pyodide.runPythonAsync(code));
+    log(`  loop finished (${ms(tr)})`, "ok");
+    log("");
+    log("Trace.summary():", "ok");
+    log(`  steps          = ${out.steps}`);
+    log(`  success        = ${out.success}`);
+    log(`  failure_counts = ${JSON.stringify(out.failure_counts)}`);
+    log(`  total_reward   = ${out.total_reward}`);
+    log(`  (pure loop compute: ${out.elapsed_ms} ms)`, "dim");
+    log("");
+    log("This is the same numbers `python3 examples/manipulation/01_pick_and_retry.py --no-render` prints locally.", "dim");
+  } catch (e) {
+    log("ERROR: " + e, "err");
+    console.error(e);
+  } finally {
+    runBtn.disabled = false;
+  }
+}
+
+runBtn.addEventListener("click", run);
+</script>
+<script src="https://cdn.jsdelivr.net/pyodide/v0.27.2/full/pyodide.js"></script>
+</body>
+</html>
diff --git a/docs/pyodide_playground_strategy.md b/docs/pyodide_playground_strategy.md
index 6cda93e..600ac48 100644
--- a/docs/pyodide_playground_strategy.md
+++ b/docs/pyodide_playground_strategy.md
@@ -80,10 +80,26 @@ Two render families cover all five: **grid** (already drawn today) and
 
 ## Phased plan
 
-**Phase 0 — proof of concept (½ day).** A standalone `docs/pyodide_poc.html`
-that loads Pyodide, installs numpy, fetches `pir` + `pick_and_retry.py`, runs
-`run(seed=0, render=False)`, and `console.log`s `trace.summary()`. Goal: confirm
-load time and that the real loop runs unmodified. Decide packaging (1) vs (2).
+**Phase 0 — proof of concept. ✅ built (Python path verified; needs a browser
+check).** [`docs/pyodide/poc.html`](pyodide/poc.html) loads Pyodide, loads numpy,
+unpacks [`docs/pyodide/pir_bundle.zip`](pyodide/) (built by
+[`scripts/build_pyodide_bundle.py`](../scripts/build_pyodide_bundle.py) — the
+pure-Python `pir` package + `01_pick_and_retry.py`, ~24 KB), runs the
+**unmodified** `run(seed, render=False)`, and prints `Trace.summary()` with
+timings. It blocks `matplotlib` so the headless path can never silently pull it.
+
+Packaging decision: went with a **zip + `unpackArchive`** (option close to (1)),
+not micropip — it avoids resolving the declared matplotlib dependency and keeps
+the download tiny. `tests/test_pyodide_bundle.py` pins the zip to the source so
+it cannot drift, and `pages.yml` rebuilds it on deploy.
+
+Verified locally (CPython simulating Pyodide's unpack-into-cwd, exact driver from
+the HTML): `{"steps": 4, "success": true, "failure_counts": {"grasp_miss": 2},
+"total_reward": 0.69}` — identical to `python3 .../01_pick_and_retry.py
+--no-render`. **Still to confirm in a real browser:** Pyodide first-load time and
+that `loadPyodide`/`unpackArchive`/`fetch` behave as expected. Open
+`docs/pyodide/poc.html` via a local server (e.g. `python3 -m http.server` from
+`docs/`) or on GitHub Pages and click “Run the real loop”.
 
 **Phase 1 — one real loop on the page (1–2 days).** Add a "Run real Python"
 toggle to the existing playground for `clarifying_question` (its renderer already
diff --git a/scripts/build_pyodide_bundle.py b/scripts/build_pyodide_bundle.py
new file mode 100644
index 0000000..723f72a
--- /dev/null
+++ b/scripts/build_pyodide_bundle.py
@@ -0,0 +1,50 @@
+"""Bundle the pure-Python `pir` package + flagship examples into a zip.
+
+The zip is loaded directly in the browser with `pyodide.unpackArchive`, so the
+Pyodide playground runs the *real* example code with no build step and without
+pulling matplotlib (the headless loop path is numpy-only). Re-run this whenever
+`pir/` or a bundled example changes; the output is committed so GitHub Pages can
+serve it.
+
+Usage:
+    python3 scripts/build_pyodide_bundle.py
+"""
+
+from __future__ import annotations
+
+import zipfile
+from pathlib import Path
+
+ROOT = Path(__file__).resolve().parents[1]
+OUT = ROOT / "docs" / "pyodide" / "pir_bundle.zip"
+
+# Examples exposed to the browser PoC. Add to this list as more flagship loops
+# get a JS renderer (see docs/pyodide_playground_strategy.md).
+BUNDLED_EXAMPLES = [
+    "examples/manipulation/01_pick_and_retry.py",
+]
+
+
+def iter_pir_sources():
+    for path in sorted((ROOT / "pir").rglob("*.py")):
+        if "__pycache__" in path.parts:
+            continue
+        yield path
+
+
+def build() -> Path:
+    OUT.parent.mkdir(parents=True, exist_ok=True)
+    files = list(iter_pir_sources()) + [ROOT / rel for rel in BUNDLED_EXAMPLES]
+
+    with zipfile.ZipFile(OUT, "w", compression=zipfile.ZIP_DEFLATED) as zf:
+        for path in files:
+            arcname = path.relative_to(ROOT).as_posix()
+            zf.write(path, arcname)
+
+    size_kb = OUT.stat().st_size / 1024
+    print(f"wrote {OUT.relative_to(ROOT)}  ({len(files)} files, {size_kb:.1f} KB)")
+    return OUT
+
+
+if __name__ == "__main__":
+    build()
diff --git a/tests/test_pyodide_bundle.py b/tests/test_pyodide_bundle.py
new file mode 100644
index 0000000..b7929b7
--- /dev/null
+++ b/tests/test_pyodide_bundle.py
@@ -0,0 +1,75 @@
+"""Guard the committed Pyodide bundle against drift from the source tree.
+
+The browser PoC (docs/pyodide/poc.html) runs the real `pir` code by unpacking
+docs/pyodide/pir_bundle.zip. If `pir/` or a bundled example changes but the zip
+is not rebuilt, the browser would silently run stale code. These tests fail in
+that case and tell you to re-run scripts/build_pyodide_bundle.py.
+"""
+
+from __future__ import annotations
+
+import importlib.util
+import zipfile
+from pathlib import Path
+
+ROOT = Path(__file__).resolve().parents[1]
+BUNDLE = ROOT / "docs" / "pyodide" / "pir_bundle.zip"
+
+
+def _load_builder():
+    spec = importlib.util.spec_from_file_location(
+        "build_pyodide_bundle", ROOT / "scripts" / "build_pyodide_bundle.py"
+    )
+    assert spec and spec.loader
+    module = importlib.util.module_from_spec(spec)
+    spec.loader.exec_module(module)
+    return module
+
+
+def test_bundle_exists() -> None:
+    assert BUNDLE.exists(), "run: python3 scripts/build_pyodide_bundle.py"
+
+
+def test_bundle_contents_match_source() -> None:
+    builder = _load_builder()
+    expected = {p.relative_to(ROOT).as_posix() for p in builder.iter_pir_sources()}
+    expected |= set(builder.BUNDLED_EXAMPLES)
+
+    with zipfile.ZipFile(BUNDLE) as zf:
+        archived = {info.filename: zf.read(info.filename) for info in zf.infolist()}
+
+    assert set(archived) == expected, (
+        "bundle file list is stale; re-run python3 scripts/build_pyodide_bundle.py"
+    )
+
+    for arcname, data in archived.items():
+        on_disk = (ROOT / arcname).read_bytes()
+        assert data == on_disk, (
+            f"{arcname} differs from source; re-run python3 scripts/build_pyodide_bundle.py"
+        )
+
+
+def test_bundled_example_runs_headless_without_matplotlib() -> None:
+    """The browser path imports numpy only; prove the loop never needs matplotlib."""
+    import sys
+
+    class _Block:
+        def find_spec(self, name, path=None, target=None):
+            if name == "matplotlib" or name.startswith("matplotlib."):
+                raise ImportError("blocked for test")
+            return None
+
+    blocker = _Block()
+    sys.meta_path.insert(0, blocker)
+    try:
+        example = ROOT / "examples" / "manipulation" / "01_pick_and_retry.py"
+        spec = importlib.util.spec_from_file_location("pick_and_retry_pyodide", example)
+        assert spec and spec.loader
+        module = importlib.util.module_from_spec(spec)
+        spec.loader.exec_module(module)
+        trace = module.run(seed=3, render=False)
+        summary = trace.summary()
+        assert summary.success
+        assert summary.failure_counts.get("grasp_miss", 0) >= 1
+    finally:
+        sys.meta_path.remove(blocker)