Unify WBT into policy_service_node; retire holosoma_node#132
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tomasz-lewicki merged 2 commits intoJun 24, 2026
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Make the Variant B service node (policy_service_node) the single entrypoint for both locomotion and WBT, and remove the separate holosoma_node. - dual_mode._select_policy_class: resolve config.task.policy_type via the holosoma.policies.by_type entry-point group before the robot_type/obs heuristic. Additive and generic -- core reads an optional policy_type via getattr and resolves classes by string, so it never imports or names extension-private policy classes. This lets the service node resolve extension WBT presets identically to the standalone run_policy path. - teleop_with_holosoma_policy.launch.py: drive policy_service_node (was holosoma_node), keep the smplh/dense input_type + conditional retargeter, and expose the velocity/state/interface/domain/node-name knobs. - Delete holosoma_node.py and its console_scripts entry; the dense TargetSource path it provided already exists in ServiceIONode (subscribes CmdDense, serves get_target(), attaches via _attach_target_source). - Tests: resolver resolution-order coverage; service-node attach/iter coverage (ROS-guarded). Docs/diagram updated.
Local ruff (0.15.8) grouped first-party holosoma_* imports with third-party; CI's pinned ruff sorts them into a separate first-party block. Import-order only, no behavior change.
tomasz-lewicki
approved these changes
Jun 24, 2026
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Summary
Makes the Variant B service node (
policy_service_node) the single entrypoint for both locomotion and WBT, and removes the separateholosoma_node. This is the unified entrypoint we deferred when picking Variant B in #128/#129.Builds on #124 (
dev/tomasz/tracker_service) — base this branch, not main.How it works
Most of the WBT path already worked through Variant B:
WholeBodyTrackingPolicyhonors_target_sourceattribute injection (set post-build, read only at runtime inrl_inference()), andServiceIONodealready subscribesCmdDense+ servesget_target(). The one gap was policy resolution — the node resolved via core_select_policy_class, which didn't honorconfig.task.policy_type/ theholosoma.policies.by_typeentry-point group.Changes
dual_mode._select_policy_class— resolveconfig.task.policy_typeagainst theholosoma.policies.by_typeentry-point group before the existing robot_type/motion_commandheuristic. Additive and generic: core reads an optionalpolicy_typeviagetattrand resolves classes by string through the entry-point group, so it never imports or hardcodes any policy class.teleop_with_holosoma_policy.launch.py— drivepolicy_service_node(washolosoma_node); keep theinput_type:=smplh|denseselector + conditional retargeter; expose thevelocity_input/state_input/interface/domain_id/node_nameknobs.holosoma_node.py+ itsconsole_scriptsentry. Its denseTargetSourcebehavior already lives inServiceIONode(_attach_target_source)._select_policy_class;_attach_target_source/_iter_policiescoverage (ROS-guarded so it skips off-container). Docs/diagram updated.Testing
ruff+ruff-format: clean.pytest src/holosoma_inference/.../test_select_policy_class.py: 6/6 pass (real package). Service-node attach test skips off-ROS (runs in the inference CI container).