[real] 整理 Python Sim2Real v2

2026-07-27 16:45:09 +08:00
parent 55094bf682
commit 3bf6eb0c4c
84 changed files with 13361 additions and 5 deletions
@@ -0,0 +1,105 @@
+"""Check whether `sim2real/` is self-contained enough for direct deployment."""
+
+from __future__ import annotations
+
+import importlib
+from pathlib import Path
+import sys
+
+sys.path.insert(0, str(Path(__file__).resolve().parents[1]))
+
+
+REQUIRED_FILES = [
+    "config.yaml",
+    "deployment_manifest.yaml",
+    "main.py",
+    "policy/policy_runner.py",
+    "interface/real_io.py",
+    "interface/imu_client.py",
+    "interface/motor_driver.py",
+    "vendored/drivers/motor_driver.py",
+    "vendored/drivers/usb_can_adapter.py",
+    "vendored/odin1_imu/odin1_imu.py",
+    "vendored/odin1_imu/build/libodin1_imu_bridge.so",
+    "mjcf/wheelleg.xml",
+]
+
+REQUIRED_IMPORTS = [
+    "numpy",
+    "yaml",
+    "serial",
+]
+
+OPTIONAL_IMPORTS = [
+    ("onnxruntime", "required when deploying the default ONNX policy"),
+    ("torch", "required only for exporting/checking .pt policies"),
+    ("pynput", "only needed for CLI keyboard control"),
+]
+
+
+def check() -> int:
+    root = Path(__file__).resolve().parents[1]
+    issues: list[str] = []
+    warnings: list[str] = []
+
+    print(f"[Check] sim2real root: {root}")
+
+    for rel in REQUIRED_FILES:
+        path = root / rel
+        if path.exists():
+            print(f"[Check] file: PASS {rel}")
+        else:
+            issues.append(f"missing required file: {rel}")
+
+    if (root / "policies" / "model_rough.onnx").exists():
+        print("[Check] file: PASS policies/model_rough.onnx")
+    elif (root / "policies" / "model_rough.pt").exists():
+        warnings.append("policies/model_rough.onnx not found; runtime will fall back to .pt unless exported")
+        print("[Check] file: PASS policies/model_rough.pt fallback")
+    else:
+        issues.append("missing policy file: policies/model_rough.onnx or policies/model_rough.pt")
+
+    for module_name in REQUIRED_IMPORTS:
+        try:
+            importlib.import_module(module_name)
+            print(f"[Check] import: PASS {module_name}")
+        except Exception as exc:
+            issues.append(f"missing python dependency `{module_name}`: {exc}")
+
+    for module_name, note in OPTIONAL_IMPORTS:
+        try:
+            importlib.import_module(module_name)
+            print(f"[Check] optional import: PASS {module_name}")
+        except Exception:
+            warnings.append(f"optional dependency `{module_name}` not found ({note})")
+
+    index_html = (root / "web" / "static" / "index.html").read_text(encoding="utf-8")
+    if "https://unpkg.com/three@" in index_html:
+        warnings.append(
+            "web 3D viewer depends on remote three.js CDN; CLI/web backend are standalone, "
+            "but full offline 3D viewer is not bundled yet"
+        )
+
+    if issues:
+        print("\n" + "=" * 60)
+        print("Standalone deployment check: FAIL")
+        for item in issues:
+            print(f"- {item}")
+    else:
+        print("\n" + "=" * 60)
+        print("Standalone deployment check: PASS")
+
+    if warnings:
+        print("\nWarnings:")
+        for item in warnings:
+            print(f"- {item}")
+
+    return 1 if issues else 0
+
+
+def main():
+    raise SystemExit(check())
+
+
+if __name__ == "__main__":
+    main()