| # 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. |
|
|
