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threading-d0-dynamics-and-value

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add svg_term.py + dynamics model modules
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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.