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chore(motion): remove unused FlashSAC owner contract #2076

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Merged
TATP-233 merged 2 commits into from
Oct 8, 2026
Merged

chore(motion): remove unused FlashSAC owner contract #2076

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99d02a1
chore(motion): remove unused FlashSAC owner contract
TATP-233 Oct 8, 2026
4055082
merge origin/main into chore/remove-flashsac-owner-contract
TATP-233 Oct 8, 2026
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1 change: 0 additions & 1 deletion docs/sphinx/source/adr/ADR-0011-torch-only-manager-based-runtime.md
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Original file line number Diff line number Diff line change
Expand Up @@ -220,7 +220,6 @@ superseded ADR-0006 may remain.

## Evidence In Repo

- FlashSAC owner fingerprint: `src/unilab/tasks/motion_tracking/g1/flashsac_owner_contract.py`
- Reusable tensor components: `src/unilab/tasks/motion_tracking/common/tensor_runtime.py`,
`src/unilab/tasks/motion_tracking/common/tensor_state_store.py`
- General Manager runtime to migrate: `src/unilab/envs/manager_based_rl_env.py`
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2 changes: 0 additions & 2 deletions docs/sphinx/source/adr/ADR-0012-sole-tensor-manager-and-scoped-backends.md
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Expand Up @@ -160,8 +160,6 @@ useful for launcher/debug/MPS isolation.
## Evidence In Repo

- Manager runtime: `src/unilab/envs/manager_based_rl_env.py`
- Absorbed FlashSAC owner fingerprint:
`src/unilab/tasks/motion_tracking/g1/flashsac_owner_contract.py`
- Tensor state store/readiness consumer:
`src/unilab/tasks/motion_tracking/common/tensor_state_store.py`
- Public backend contract: `unisim.backend.base.SimBackend`
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153 changes: 0 additions & 153 deletions src/unilab/tasks/motion_tracking/g1/flashsac_owner_contract.py
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109 changes: 0 additions & 109 deletions tests/tasks/test_flashsac_owner_contract.py
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12 changes: 7 additions & 5 deletions tests/tasks/test_package_boundary.py
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Expand Up @@ -75,9 +75,11 @@ def test_tensor_runtime_switch_is_absent_from_source_and_owner_configs() -> None
assert offenders == [], f"tensor-runtime switch references remain: {offenders}"


def test_motion_direct_runtime_is_removed() -> None:
import unilab.tasks.motion_tracking.g1.flashsac_owner_contract as module
def test_flashsac_motion_owner_uses_generic_manager_runtime() -> None:
registry.ensure_registries()
assert "motrix" in registry._envs["G1MotionTracking"].env_factory_dict


assert not hasattr(module, "TorchG1MotionTrackingFlashSACEnv")
assert not hasattr(module, "make_torch_g1_motion_tracking_flashsac_env")
assert not hasattr(module, "_TorchG1MotionTrackingFlashSACEnv")
def test_motion_direct_runtime_is_removed() -> None:
direct_runtime = _REPO_ROOT / "src/unilab/tasks/motion_tracking/g1/torch_flashsac_env.py"
assert not direct_runtime.exists()
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