Remove velocity play configs - #6860
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The PR removes robot-specific play_mode() overrides for Cassie, G1, and H1 rough-velocity configurations and deletes the test dedicated to those override values. The affected configurations now consistently use inherited play-mode behavior.
- Design and architecture: The reviewed design decision centralizes play behavior in the shared base implementation instead of retaining per-robot command-range and episode-length customizations. This is coherent with the PR’s stated goal, with the explicit tradeoff that play runs no longer receive those robot-specific values.
- API: The
play_mode()entry point remains available through inheritance, so callers are not left without the method. The compatibility surface changes behavior rather than method availability: these configurations now receive the base play settings. - Implementation: The implementation consists of matched deletions: all three overrides are removed, and the regression test asserting their former values is removed with them. No contradictory producer or consumer path is evidenced by the supplied patch.
No blocking issues. No inline issue met the actionable-evidence threshold; the assessment above records the review feedback.
Automated review; human maintainers own approval decisions.
Greptile SummaryThis PR removes robot-specific velocity playback overrides that were considered confusing experimental leftovers and deletes their obsolete regression test.
Confidence Score: 5/5The PR appears safe to merge because the configuration and test removals consistently implement the explicitly intended return to shared playback defaults. The affected environments retain inherited playback setup while only the unwanted robot-specific command and duration overrides, along with their corresponding assertions, are removed. Important Files Changed
Reviews (1): Last reviewed commit: "remove play configs" | Re-trigger Greptile |
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@ClemensSchwarke remember to update changelog fragment |
3 participants
Remove the reintroduced velocity environment play configs, as they are confusing and likely leftovers from previous experiments.