  from openpilot.common.params import Params
  from openpilot.common.filter_simple import FirstOrderFilter
  from openpilot.common.realtime import config_realtime_process
  from openpilot.common.transformations.model import get_warp_matrix
  from openpilot.selfdrive.modeld.runners.runmodel_pyx import Runtime
  from openpilot.selfdrive.modeld.models.commonmodel_pyx import ModelFrame, CLContext
  from openpilot.selfdrive.modeld.models.driving_pyx import (
    PublishState, create_model_msg, create_pose_msg,
    FEATURE_LEN, HISTORY_BUFFER_LEN, DESIRE_LEN, TRAFFIC_CONVENTION_LEN, NAV_FEATURE_LEN, NAV_INSTRUCTION_LEN,
    OUTPUT_SIZE, NET_OUTPUT_SIZE, MODEL_FREQ)
 
</s> remove from openpilot.system.hardware import TICI
 </s> add  </s> remove USE_THNEED = int(os.getenv('USE_THNEED', str(int(TICI))))
if USE_THNEED:
  from selfdrive.modeld.runners.thneedmodel_pyx import ThneedModel as ModelRunner
else:
  from selfdrive.modeld.runners.onnxmodel_pyx import ONNXModel as ModelRunner

MODEL_PATH = str(Path(__file__).parent / f"models/supercombo.{'thneed' if USE_THNEED else 'onnx'}")
 </s> add MODEL_PATHS = {
  ModelRunner.THNEED: Path(__file__).parent / 'models/supercombo.thneed',
  ModelRunner.ONNX: Path(__file__).parent / 'models/supercombo.onnx'} </s> remove import os
 </s> add  </s> remove     self.model = ModelRunner(MODEL_PATH, self.output, Runtime.GPU, False, context)
 </s> add     self.model = ModelRunner(MODEL_PATHS, self.output, Runtime.GPU, False, context)
from openpilot.selfdrive.modeld.runners import ModelRunner, Runtime
  from openpilot.common.params import Params
  from openpilot.common.filter_simple import FirstOrderFilter
  from openpilot.common.realtime import config_realtime_process
  from openpilot.common.transformations.model import get_warp_matrix
from openpilot.selfdrive.modeld.runners import ModelRunner, Runtime
  from openpilot.selfdrive.modeld.models.commonmodel_pyx import ModelFrame, CLContext
  from openpilot.selfdrive.modeld.models.driving_pyx import (
    PublishState, create_model_msg, create_pose_msg,
    FEATURE_LEN, HISTORY_BUFFER_LEN, DESIRE_LEN, TRAFFIC_CONVENTION_LEN, NAV_FEATURE_LEN, NAV_INSTRUCTION_LEN,
    OUTPUT_SIZE, NET_OUTPUT_SIZE, MODEL_FREQ)
keep keep keep keep replace keep keep keep keep keep
 Added ModelRunner helpers in modeld/runners/__init__.py (#29737)

* Added ModelRunner helper class

* import Runtime in __init__.py 
selfdrive/modeld/modeld.py