| """Resolve release assets relative to the repository root. |
| |
| The H2 release includes its MJCF/meshes, native CLoSD bundle, ready pose, |
| Stage-C policy and residual ONNX. Legacy helpers can use ICRA_REPO_ROOT |
| when explicitly working with a separate training checkout; those helpers |
| are not required by the released SHM MuJoCo runner. |
| """ |
|
|
| from __future__ import annotations |
|
|
| import importlib.util |
| import os |
| import sys |
| import types |
| from functools import lru_cache |
| from pathlib import Path |
|
|
| |
| |
| PACKAGE_DIR = Path(__file__).resolve().parents[1] |
|
|
|
|
| def package_dir() -> Path: |
| return PACKAGE_DIR |
|
|
|
|
| def resolve(relative: str | Path) -> Path: |
| """Resolve a bundle-relative path; fall back to the training checkout when absent.""" |
| path = Path(relative) |
| if path.is_absolute(): |
| return path |
| local = PACKAGE_DIR / path |
| if local.exists(): |
| return local |
| repo = _repo_root_optional() |
| if repo is not None: |
| for candidate in (repo / path, repo / "source" / "whole_body_tracking" / "whole_body_tracking" / path): |
| if candidate.exists(): |
| return candidate |
| return local |
|
|
|
|
| def _repo_root_optional() -> Path | None: |
| override = os.environ.get("ICRA_REPO_ROOT", "").strip() |
| candidates = [Path(override).expanduser()] if override else [] |
| candidates += [PACKAGE_DIR.parent / "humanoid_table_tennis"] |
| for cand in candidates: |
| if (cand / "source" / "whole_body_tracking").is_dir(): |
| return cand.resolve() |
| return None |
|
|
|
|
| def assets_dir() -> Path: |
| return PACKAGE_DIR / "assets" / "robot_description" |
|
|
|
|
| def sim2sim_dir() -> Path: |
| local = PACKAGE_DIR / "sim2sim" |
| if local.is_dir(): |
| return local |
| repo = _repo_root_optional() |
| if repo is None: |
| raise FileNotFoundError("deploy/sim2sim helper modules are missing and no training checkout is available") |
| return repo / "sim2sim_tt" |
|
|
|
|
| def ensure_sim2sim_on_path() -> None: |
| path = str(sim2sim_dir()) |
| if path not in sys.path: |
| sys.path.insert(0, path) |
|
|
|
|
| def runtime_dir() -> Path: |
| local = PACKAGE_DIR / "runtime" |
| if (local / "motionbricks_closd_runtime.py").is_file(): |
| return local |
| repo = _repo_root_optional() |
| if repo is None: |
| raise FileNotFoundError("deploy/runtime modules are missing and no training checkout is available") |
| return repo / "source" / "whole_body_tracking" / "whole_body_tracking" / "tasks" / "tracking" / "mdp" |
|
|
|
|
| @lru_cache(maxsize=1) |
| def load_closd_runtime_module() -> types.ModuleType: |
| """Load ``motionbricks_closd_runtime`` (native-bundle path) without importing the training package.""" |
| mdp_dir = runtime_dir() |
| pkg_name = "_wbt_closd_runtime" |
| if pkg_name in sys.modules: |
| return sys.modules[f"{pkg_name}.motionbricks_closd_runtime"] |
| pkg = types.ModuleType(pkg_name) |
| pkg.__path__ = [str(mdp_dir)] |
| sys.modules[pkg_name] = pkg |
| for name in ("native_closd_inference", "motionbricks_closd_runtime"): |
| spec = importlib.util.spec_from_file_location(f"{pkg_name}.{name}", mdp_dir / f"{name}.py") |
| module = importlib.util.module_from_spec(spec) |
| sys.modules[f"{pkg_name}.{name}"] = module |
| spec.loader.exec_module(module) |
| return sys.modules[f"{pkg_name}.motionbricks_closd_runtime"] |
|
|
