更新对齐新sdk接口

deploy_45dim_rl_gym/bpu_deploy_s100/deploy_go1_robotlab_bpu_s100_fastcpp.py

@@ -32,6 +32,7 @@ low-level checks, override the default with --power-factor 1.
 
 import argparse
 import json
+import os
 import signal
 import subprocess
 import sys
@@ -43,6 +44,31 @@ from pathlib import Path
 
 import numpy as np
 
+HERE = Path(__file__).parent.resolve()
+DEPLOY_ROOT = HERE.parents[1]
+
+
+def _add_sdk_paths():
+    candidates = []
+    env_root = os.environ.get("GO1_PRO_SDK_ROOT")
+    if env_root:
+        candidates.append(Path(env_root).expanduser())
+    for parent in (HERE, *HERE.parents):
+        candidates.append(parent / "go1_pro_sdk")
+
+    for sdk_root in candidates:
+        fast_root = sdk_root / "fast_lowcmd_cpp"
+        if (sdk_root / "go1_pro_sdk").exists():
+            sys.path.insert(0, str(sdk_root))
+            if fast_root.exists():
+                sys.path.insert(0, str(fast_root))
+            return sdk_root
+    return None
+
+
+SDK_ROOT = _add_sdk_paths()
+SDK_FAST_LOW_CMD = SDK_ROOT / "fast_lowcmd_cpp" if SDK_ROOT is not None else None
+
 from go1_pro_sdk import (
     MCUClient, MotorMode, PowerProtectViolation, JOINT_NAMES,
 )
@@ -50,12 +76,6 @@ from go1_pro_sdk import (
 from bpu_policy import BpuInferLibPolicy
 
 
-HERE = Path(__file__).parent.resolve()
-DEPLOY_ROOT = HERE.parents[1]
-WORKSPACE_ROOT = HERE.parents[2]
-SDK_FAST_LOW_CMD = WORKSPACE_ROOT / "go1_pro_sdk" / "fast_lowcmd_cpp"
-if SDK_FAST_LOW_CMD.exists():
-    sys.path.insert(0, str(SDK_FAST_LOW_CMD))
 try:
     from fast_lowcmd import FastLowCmdBuilder
     from fast_mcu import FastMCUClient

deploy_45dim_rl_gym/bpu_deploy_x5/deploy_go1_robotlab_bpu_x5_fastcpp.py

@@ -32,6 +32,7 @@ low-level checks, override the default with --power-factor 1.
 
 import argparse
 import json
+import os
 import signal
 import subprocess
 import sys
@@ -43,6 +44,31 @@ from pathlib import Path
 
 import numpy as np
 
+HERE = Path(__file__).parent.resolve()
+DEPLOY_ROOT = HERE.parents[1]
+
+
+def _add_sdk_paths():
+    candidates = []
+    env_root = os.environ.get("GO1_PRO_SDK_ROOT")
+    if env_root:
+        candidates.append(Path(env_root).expanduser())
+    for parent in (HERE, *HERE.parents):
+        candidates.append(parent / "go1_pro_sdk")
+
+    for sdk_root in candidates:
+        fast_root = sdk_root / "fast_lowcmd_cpp"
+        if (sdk_root / "go1_pro_sdk").exists():
+            sys.path.insert(0, str(sdk_root))
+            if fast_root.exists():
+                sys.path.insert(0, str(fast_root))
+            return sdk_root
+    return None
+
+
+SDK_ROOT = _add_sdk_paths()
+SDK_FAST_LOW_CMD = SDK_ROOT / "fast_lowcmd_cpp" if SDK_ROOT is not None else None
+
 from go1_pro_sdk import (
     MCUClient, MotorMode, PowerProtectViolation, JOINT_NAMES,
 )
@@ -50,12 +76,6 @@ from go1_pro_sdk import (
 from bpu_policy import BpuInferLibPolicy
 
 
-HERE = Path(__file__).parent.resolve()
-DEPLOY_ROOT = HERE.parents[1]
-WORKSPACE_ROOT = HERE.parents[2]
-SDK_FAST_LOW_CMD = WORKSPACE_ROOT / "go1_pro_sdk" / "fast_lowcmd_cpp"
-if SDK_FAST_LOW_CMD.exists():
-    sys.path.insert(0, str(SDK_FAST_LOW_CMD))
 try:
     from fast_lowcmd import FastLowCmdBuilder
     from fast_mcu import FastMCUClient

deploy_45dim_rl_gym/deploy_go1_rlgym_bpu_x5_fastcpp.py

@@ -31,6 +31,7 @@ low-level checks, override the default with --power-factor 1.
 
 import argparse
 import json
+import os
 import signal
 import subprocess
 import sys
@@ -42,20 +43,39 @@ from pathlib import Path
 
 import numpy as np
 
+HERE = Path(__file__).parent.resolve()
+DEPLOY_ROOT = HERE.parent
+
+
+def _add_sdk_paths():
+    candidates = []
+    env_root = os.environ.get("GO1_PRO_SDK_ROOT")
+    if env_root:
+        candidates.append(Path(env_root).expanduser())
+    for parent in (HERE, *HERE.parents):
+        candidates.append(parent / "go1_pro_sdk")
+
+    for sdk_root in candidates:
+        fast_root = sdk_root / "fast_lowcmd_cpp"
+        if (sdk_root / "go1_pro_sdk").exists():
+            sys.path.insert(0, str(sdk_root))
+            if fast_root.exists():
+                sys.path.insert(0, str(fast_root))
+            return sdk_root
+    return None
+
+
+SDK_ROOT = _add_sdk_paths()
+SDK_FAST_LOW_CMD = SDK_ROOT / "fast_lowcmd_cpp" if SDK_ROOT is not None else None
+
 from go1_pro_sdk import (
     MotorMode, PowerProtectViolation, JOINT_NAMES,
 )
 
-HERE = Path(__file__).parent.resolve()
-DEPLOY_ROOT = HERE.parent
-WORKSPACE_ROOT = HERE.parents[1]
 sys.path.insert(0, str(HERE / "bpu_deploy_x5"))
 from bpu_policy import BpuInferLibPolicy
 
 
-SDK_FAST_LOW_CMD = WORKSPACE_ROOT / "go1_pro_sdk" / "fast_lowcmd_cpp"
-if SDK_FAST_LOW_CMD.exists():
-    sys.path.insert(0, str(SDK_FAST_LOW_CMD))
 try:
     from fast_lowcmd import FastLowCmdBuilder
     from fast_mcu import FastMCUClient

deploy_45dim_rl_gym/deploy_go1_rlgym_pro_sdk.py

@@ -31,8 +31,10 @@ low-level checks, override the default with --power-factor 1.
 
 import argparse
 import json
+import os
 import signal
 import subprocess
+import sys
 import time
 from collections import deque
 from datetime import datetime
@@ -42,13 +44,32 @@ from pathlib import Path
 import numpy as np
 import onnxruntime as ort
 
+HERE = Path(__file__).parent.resolve()
+
+
+def _add_sdk_root_to_path():
+    candidates = []
+    env_root = os.environ.get("GO1_PRO_SDK_ROOT")
+    if env_root:
+        candidates.append(Path(env_root).expanduser())
+    for parent in (HERE, *HERE.parents):
+        candidates.append(parent / "go1_pro_sdk")
+
+    for sdk_root in candidates:
+        if (sdk_root / "go1_pro_sdk").exists():
+            sys.path.insert(0, str(sdk_root))
+            return sdk_root
+    return None
+
+
+SDK_ROOT = _add_sdk_root_to_path()
+
 from go1_pro_sdk import (
     MCUClient, LowCmd, MotorCmd, MotorMode,
     apply_safety, PowerProtectViolation, JOINT_NAMES,
 )
 
 
-HERE = Path(__file__).parent.resolve()
 DEFAULT_ONNX = HERE / "policy_30k.onnx"
 SPORT_KILL_CMD = (
     'ssh pi@192.168.123.161 "sudo pkill -9 -f keep_sport_alive; '

deploy_45dim_rl_gym/deploy_go1_rlgym_pro_sdk_fastcpp.py

@@ -31,6 +31,7 @@ low-level checks, override the default with --power-factor 1.
 
 import argparse
 import json
+import os
 import signal
 import subprocess
 import sys
@@ -43,15 +44,35 @@ from pathlib import Path
 import numpy as np
 import onnxruntime as ort
 
+HERE = Path(__file__).parent.resolve()
+
+
+def _add_sdk_paths():
+    candidates = []
+    env_root = os.environ.get("GO1_PRO_SDK_ROOT")
+    if env_root:
+        candidates.append(Path(env_root).expanduser())
+    for parent in (HERE, *HERE.parents):
+        candidates.append(parent / "go1_pro_sdk")
+
+    for sdk_root in candidates:
+        fast_root = sdk_root / "fast_lowcmd_cpp"
+        if (sdk_root / "go1_pro_sdk").exists():
+            sys.path.insert(0, str(sdk_root))
+            if fast_root.exists():
+                sys.path.insert(0, str(fast_root))
+            return sdk_root
+    return None
+
+
+SDK_ROOT = _add_sdk_paths()
+SDK_FAST_LOW_CMD = SDK_ROOT / "fast_lowcmd_cpp" if SDK_ROOT is not None else None
+
 from go1_pro_sdk import (
     MCUClient, MotorMode, PowerProtectViolation, JOINT_NAMES,
 )
 
 
-HERE = Path(__file__).parent.resolve()
-SDK_FAST_LOW_CMD = HERE.parents[1] / "go1_pro_sdk" / "fast_lowcmd_cpp"
-if SDK_FAST_LOW_CMD.exists():
-    sys.path.insert(0, str(SDK_FAST_LOW_CMD))
 try:
     from fast_lowcmd import FastLowCmdBuilder
 except ImportError as exc:

deploy_45dim_rl_gym/deploy_go1_rlgym_pro_sdk_lab.py

@@ -32,8 +32,10 @@ low-level checks, override the default with --power-factor 1.
 
 import argparse
 import json
+import os
 import signal
 import subprocess
+import sys
 import time
 from collections import deque
 from datetime import datetime
@@ -43,13 +45,32 @@ from pathlib import Path
 import numpy as np
 import onnxruntime as ort
 
+HERE = Path(__file__).parent.resolve()
+
+
+def _add_sdk_root_to_path():
+    candidates = []
+    env_root = os.environ.get("GO1_PRO_SDK_ROOT")
+    if env_root:
+        candidates.append(Path(env_root).expanduser())
+    for parent in (HERE, *HERE.parents):
+        candidates.append(parent / "go1_pro_sdk")
+
+    for sdk_root in candidates:
+        if (sdk_root / "go1_pro_sdk").exists():
+            sys.path.insert(0, str(sdk_root))
+            return sdk_root
+    return None
+
+
+SDK_ROOT = _add_sdk_root_to_path()
+
 from go1_pro_sdk import (
     MCUClient, LowCmd, MotorCmd, MotorMode,
     apply_safety, PowerProtectViolation, JOINT_NAMES,
 )
 
 
-HERE = Path(__file__).parent.resolve()
 DEFAULT_ONNX = HERE / "policy_robotlab_6500.onnx"
 SPORT_KILL_CMD = (
     'ssh pi@192.168.123.161 "sudo pkill -9 -f keep_sport_alive; '

deploy_45dim_rl_gym/deploy_go1_rlgym_pro_sdk_lab_fastcpp.py

@@ -32,6 +32,7 @@ low-level checks, override the default with --power-factor 1.
 
 import argparse
 import json
+import os
 import signal
 import subprocess
 import sys
@@ -44,15 +45,35 @@ from pathlib import Path
 import numpy as np
 import onnxruntime as ort
 
+HERE = Path(__file__).parent.resolve()
+
+
+def _add_sdk_paths():
+    candidates = []
+    env_root = os.environ.get("GO1_PRO_SDK_ROOT")
+    if env_root:
+        candidates.append(Path(env_root).expanduser())
+    for parent in (HERE, *HERE.parents):
+        candidates.append(parent / "go1_pro_sdk")
+
+    for sdk_root in candidates:
+        fast_root = sdk_root / "fast_lowcmd_cpp"
+        if (sdk_root / "go1_pro_sdk").exists():
+            sys.path.insert(0, str(sdk_root))
+            if fast_root.exists():
+                sys.path.insert(0, str(fast_root))
+            return sdk_root
+    return None
+
+
+SDK_ROOT = _add_sdk_paths()
+SDK_FAST_LOW_CMD = SDK_ROOT / "fast_lowcmd_cpp" if SDK_ROOT is not None else None
+
 from go1_pro_sdk import (
     MCUClient, MotorMode, PowerProtectViolation, JOINT_NAMES,
 )
 
 
-HERE = Path(__file__).parent.resolve()
-SDK_FAST_LOW_CMD = HERE.parents[1] / "go1_pro_sdk" / "fast_lowcmd_cpp"
-if SDK_FAST_LOW_CMD.exists():
-    sys.path.insert(0, str(SDK_FAST_LOW_CMD))
 try:
     from fast_lowcmd import FastLowCmdBuilder
     from fast_mcu import FastMCUClient