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7738b02 | 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 | # SVG runtime code
`svg_term.py` is imported by `train_online.py` as a TOP-LEVEL module (`from svg_term import SvgTerm`),
so `0811/` must be on `PYTHONPATH` — it is not a package.
It then resolves its dynamics model by **path**, not by import:
ROOT = $HDR_ROOT (default /home/chomeed/workspace/hdr_robot)
DYNAMICS_DIR = $ROOT/0810_dyanmics_model
checkpoint = $DYNAMICS_DIR/dynamics_<model_tag>.pt
sys.path gets [DYNAMICS_DIR, $ROOT/0810, $ROOT] prepended
The module for a tag is chosen by PREFIX (svg_term.py:214):
model_gaussian | model_flow | model_history | model_residual | model_rnn -> that file
anything else -> model.py
So `--svg-dynamics model_flow_threadfull` loads `model_flow.py` and
`dynamics_model_flow_threadfull.pt`, both included here.
## Layout to reproduce
$HDR_ROOT/0811/svg_term.py
$HDR_ROOT/0810_dyanmics_model/model*.py
$HDR_ROOT/0810_dyanmics_model/dynamics_model_flow_threadfull.pt
$HDR_ROOT/0810/ # created empty is fine; only sys.path uses it
In the original tree `0811`, `0810` and `0810_dyanmics_model` are SYMLINKS into
`/scratch2/...`, which is why a snapshot of the repo yields dangling links.
Set `HDR_ROOT` to wherever you place these, or make real directories.
## Dependencies
`svg_term.py` needs only numpy + torch, plus `online_rl_mimicgen.dino_wm.pool_features`
on the feature-space path (`--svg-dynamics dino_wm`). The `model_*.py` files are torch-only.
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