| |
| """Access to the verified research scripts of the porting workspace (``research/diffusion-planner/scripts``), the |
| independent implementations the host code is unit-tested against. Absent in an installed package or the image: |
| tests that need them skip.""" |
| from __future__ import annotations |
|
|
| import importlib.util |
| import sys |
| from pathlib import Path |
| from typing import Optional |
|
|
| import numpy as np |
|
|
| PKG = Path(__file__).resolve().parents[1] |
| RESEARCH = PKG.parents[3] / "research" / "diffusion-planner" |
| SCRIPTS = RESEARCH / "scripts" |
| ORT_GOLDENS = RESEARCH / "ort" |
| FULL_GOLDENS = RESEARCH / "goldens" |
| SAMPLES = PKG / "samples" |
| SMALL_GOLDENS = PKG / "tests" / "goldens" |
|
|
|
|
| def load_script(name: str): |
| """Import ``research/diffusion-planner/scripts/<name>.py`` by path (None when absent). Its directory is put on |
| ``sys.path`` only while it imports (``dp_scene`` imports ``dp_common`` by name).""" |
| path = SCRIPTS / f"{name}.py" |
| if not path.is_file(): |
| return None |
| key = f"_dp_research_{name}" |
| if key in sys.modules: |
| return sys.modules[key] |
| spec = importlib.util.spec_from_file_location(key, path) |
| mod = importlib.util.module_from_spec(spec) |
| sys.path.insert(0, str(SCRIPTS)) |
| try: |
| spec.loader.exec_module(mod) |
| finally: |
| sys.path.remove(str(SCRIPTS)) |
| sys.modules[key] = mod |
| return mod |
|
|
|
|
| def sample_raw(stem: str) -> dict: |
| with np.load(SAMPLES / f"{stem}.npz") as z: |
| return {k: np.array(z[k]) for k in z.files} |
|
|
|
|
| def research_scene_raw(scene: str) -> Optional[dict]: |
| path = ORT_GOLDENS / f"golden_{scene}.npz" |
| if not path.is_file(): |
| return None |
| with np.load(path) as z: |
| return {k[len("raw/"):]: np.array(z[k]) for k in z.files if k.startswith("raw/")} |
|
|
|
|
| def research_scenes() -> list: |
| return sorted(p.stem[len("golden_"):] for p in ORT_GOLDENS.glob("golden_*.npz")) |
|
|
