HW tests fixes

src/lerobot/rollout/context.py

@@ -248,18 +248,13 @@ def build_rollout_context(
         initial_features=create_initial_features(action=action_features_hw),
         use_videos=cfg.dataset.video if cfg.dataset else True,
     )
-    # Observation-side aggregation only feeds the dataset schema; skip it for
+    # Observation-side aggregation is needed because of build_dataset_frame
-    # the base strategy to avoid running observation pipelines that may have
+    observation_dataset_features = aggregate_pipeline_dataset_features(
-    # dataset-specific dependencies.
+        pipeline=robot_observation_processor,
-    if cfg.dataset is not None:
+        initial_features=create_initial_features(observation=observation_features_hw),
-        observation_dataset_features = aggregate_pipeline_dataset_features(
+        use_videos=cfg.dataset.video if cfg.dataset else True,
-            pipeline=robot_observation_processor,
+    )
-            initial_features=create_initial_features(observation=observation_features_hw),
+    dataset_features = combine_feature_dicts(action_dataset_features, observation_dataset_features)
-            use_videos=cfg.dataset.video,
-        )
-        dataset_features = combine_feature_dicts(action_dataset_features, observation_dataset_features)
-    else:
-        dataset_features = action_dataset_features
     hw_features = hw_to_dataset_features(observation_features_hw, "observation")
     raw_action_keys = list(robot.action_features.keys())
     policy_action_names = getattr(policy_config, "action_feature_names", None)

src/lerobot/scripts/lerobot_rollout.py

@@ -69,23 +69,35 @@ from lerobot.cameras.realsense import RealSenseCameraConfig  # noqa: F401
 from lerobot.cameras.zmq import ZMQCameraConfig  # noqa: F401
 from lerobot.configs import parser
 from lerobot.robots import (  # noqa: F401
+    Robot,
+    RobotConfig,
     bi_openarm_follower,
     bi_so_follower,
+    earthrover_mini_plus,
+    hope_jr,
     koch_follower,
+    omx_follower,
+    openarm_follower,
+    reachy2,
     so_follower,
-    unitree_g1,
+    unitree_g1 as unitree_g1_robot,
 )
 from lerobot.rollout.configs import RolloutConfig
 from lerobot.rollout.context import build_rollout_context
 from lerobot.rollout.strategies import create_strategy
 from lerobot.teleoperators import (  # noqa: F401
+    Teleoperator,
+    TeleoperatorConfig,
     bi_openarm_leader,
     bi_so_leader,
+    homunculus,
     koch_leader,
+    omx_leader,
     openarm_leader,
     openarm_mini,
+    reachy2_teleoperator,
     so_leader,
-    unitree_g1 as unitree_g1_teleop,
+    unitree_g1,
 )
 from lerobot.utils.import_utils import register_third_party_plugins
 from lerobot.utils.process import ProcessSignalHandler