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refactor(runtime): remove dataset replay mode

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This commit is contained in:
Pepijn
2026-07-15 13:39:54 +02:00
parent 8593ff081b
commit 94dc85b443
3 changed files with 29 additions and 401 deletions
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tests/policies/pi052/test_pi052_runtime_adapter.py
+1 -1
View File
@@ -44,7 +44,7 @@ def test_rollout_language_cli_smoke_does_not_load_model(monkeypatch):
monkeypatch.setattr(
cli,
"_load_policy_and_preprocessor",
lambda policy_path, dataset_repo_id, **kwargs: (fake_policy, None, None, None),
lambda policy_path, **kwargs: (fake_policy, None, None),
)
monkeypatch.setattr(cli, "_run_repl", lambda runtime, **kwargs: 0)
tests/runtime/test_cli.py
+6
View File
@@ -1,6 +1,7 @@
from types import SimpleNamespace
from unittest.mock import MagicMock
import pytest
import torch
from lerobot.runtime.cli import _build_rollout_runtime_io, _parse_args
@@ -19,6 +20,11 @@ def test_parse_args_preserves_rollout_robot_overrides():
assert "--robot.calibration_dir=/tmp/calibration" in args.raw_argv
def test_parse_args_rejects_removed_dataset_replay_flags():
with pytest.raises(SystemExit):
_parse_args(["--policy.path=checkpoint", "--dataset.repo_id=dataset"])
def test_rollout_runtime_io_uses_context_processors():
robot = MagicMock()
robot.robot_type = "mock_robot"