mirror of
https://github.com/huggingface/lerobot.git
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Eugene Mironov
324 lines
10 KiB
Python
324 lines
10 KiB
Python
#!/usr/bin/env python
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# Copyright 2025 The HuggingFace Inc. team. All rights reserved.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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"""Tests for RTC configuration module."""
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import pytest
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from lerobot.configs.types import RTCAttentionSchedule
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from lerobot.policies.rtc.configuration_rtc import RTCConfig
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# ====================== Initialization Tests ======================
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def test_rtc_config_default_initialization():
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"""Test RTCConfig initializes with default values."""
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config = RTCConfig()
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assert config.enabled is False
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assert config.prefix_attention_schedule == RTCAttentionSchedule.LINEAR
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assert config.max_guidance_weight == 10.0
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assert config.execution_horizon == 10
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assert config.debug is False
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assert config.debug_maxlen == 100
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def test_rtc_config_custom_initialization():
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"""Test RTCConfig initializes with custom values."""
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config = RTCConfig(
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enabled=True,
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prefix_attention_schedule=RTCAttentionSchedule.EXP,
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max_guidance_weight=5.0,
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execution_horizon=20,
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debug=True,
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debug_maxlen=200,
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)
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assert config.enabled is True
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assert config.prefix_attention_schedule == RTCAttentionSchedule.EXP
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assert config.max_guidance_weight == 5.0
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assert config.execution_horizon == 20
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assert config.debug is True
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assert config.debug_maxlen == 200
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def test_rtc_config_partial_initialization():
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"""Test RTCConfig with partial custom values."""
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config = RTCConfig(enabled=True, max_guidance_weight=15.0)
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assert config.enabled is True
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assert config.max_guidance_weight == 15.0
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# Other values should be defaults
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assert config.prefix_attention_schedule == RTCAttentionSchedule.LINEAR
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assert config.execution_horizon == 10
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assert config.debug is False
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# ====================== Validation Tests ======================
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def test_rtc_config_validates_positive_max_guidance_weight():
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"""Test RTCConfig validates max_guidance_weight is positive."""
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with pytest.raises(ValueError, match="max_guidance_weight must be positive"):
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RTCConfig(max_guidance_weight=0.0)
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with pytest.raises(ValueError, match="max_guidance_weight must be positive"):
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RTCConfig(max_guidance_weight=-1.0)
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def test_rtc_config_validates_positive_debug_maxlen():
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"""Test RTCConfig validates debug_maxlen is positive."""
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with pytest.raises(ValueError, match="debug_maxlen must be positive"):
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RTCConfig(debug_maxlen=0)
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with pytest.raises(ValueError, match="debug_maxlen must be positive"):
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RTCConfig(debug_maxlen=-10)
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def test_rtc_config_accepts_valid_max_guidance_weight():
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"""Test RTCConfig accepts valid positive max_guidance_weight."""
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config1 = RTCConfig(max_guidance_weight=0.1)
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assert config1.max_guidance_weight == 0.1
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config2 = RTCConfig(max_guidance_weight=100.0)
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assert config2.max_guidance_weight == 100.0
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def test_rtc_config_accepts_valid_debug_maxlen():
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"""Test RTCConfig accepts valid positive debug_maxlen."""
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config1 = RTCConfig(debug_maxlen=1)
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assert config1.debug_maxlen == 1
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config2 = RTCConfig(debug_maxlen=10000)
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assert config2.debug_maxlen == 10000
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# ====================== Attention Schedule Tests ======================
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def test_rtc_config_with_linear_schedule():
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"""Test RTCConfig with LINEAR attention schedule."""
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config = RTCConfig(prefix_attention_schedule=RTCAttentionSchedule.LINEAR)
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assert config.prefix_attention_schedule == RTCAttentionSchedule.LINEAR
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def test_rtc_config_with_exp_schedule():
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"""Test RTCConfig with EXP attention schedule."""
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config = RTCConfig(prefix_attention_schedule=RTCAttentionSchedule.EXP)
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assert config.prefix_attention_schedule == RTCAttentionSchedule.EXP
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def test_rtc_config_with_zeros_schedule():
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"""Test RTCConfig with ZEROS attention schedule."""
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config = RTCConfig(prefix_attention_schedule=RTCAttentionSchedule.ZEROS)
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assert config.prefix_attention_schedule == RTCAttentionSchedule.ZEROS
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def test_rtc_config_with_ones_schedule():
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"""Test RTCConfig with ONES attention schedule."""
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config = RTCConfig(prefix_attention_schedule=RTCAttentionSchedule.ONES)
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assert config.prefix_attention_schedule == RTCAttentionSchedule.ONES
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# ====================== Enabled/Disabled Tests ======================
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def test_rtc_config_enabled_true():
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"""Test RTCConfig with enabled=True."""
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config = RTCConfig(enabled=True)
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assert config.enabled is True
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def test_rtc_config_enabled_false():
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"""Test RTCConfig with enabled=False."""
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config = RTCConfig(enabled=False)
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assert config.enabled is False
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# ====================== Debug Tests ======================
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def test_rtc_config_debug_enabled():
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"""Test RTCConfig with debug enabled."""
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config = RTCConfig(debug=True, debug_maxlen=500)
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assert config.debug is True
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assert config.debug_maxlen == 500
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def test_rtc_config_debug_disabled():
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"""Test RTCConfig with debug disabled."""
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config = RTCConfig(debug=False)
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assert config.debug is False
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# ====================== Execution Horizon Tests ======================
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def test_rtc_config_with_small_execution_horizon():
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"""Test RTCConfig with small execution horizon."""
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config = RTCConfig(execution_horizon=1)
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assert config.execution_horizon == 1
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def test_rtc_config_with_large_execution_horizon():
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"""Test RTCConfig with large execution horizon."""
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config = RTCConfig(execution_horizon=100)
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assert config.execution_horizon == 100
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def test_rtc_config_with_zero_execution_horizon():
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"""Test RTCConfig accepts zero execution horizon."""
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# No validation on execution_horizon, so this should work
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config = RTCConfig(execution_horizon=0)
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assert config.execution_horizon == 0
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def test_rtc_config_with_negative_execution_horizon():
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"""Test RTCConfig accepts negative execution horizon."""
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# No validation on execution_horizon, so this should work
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config = RTCConfig(execution_horizon=-1)
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assert config.execution_horizon == -1
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# ====================== Integration Tests ======================
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def test_rtc_config_typical_production_settings():
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"""Test RTCConfig with typical production settings."""
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config = RTCConfig(
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enabled=True,
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prefix_attention_schedule=RTCAttentionSchedule.EXP,
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max_guidance_weight=10.0,
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execution_horizon=8,
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debug=False,
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)
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assert config.enabled is True
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assert config.prefix_attention_schedule == RTCAttentionSchedule.EXP
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assert config.max_guidance_weight == 10.0
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assert config.execution_horizon == 8
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assert config.debug is False
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def test_rtc_config_typical_debug_settings():
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"""Test RTCConfig with typical debug settings."""
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config = RTCConfig(
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enabled=True,
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prefix_attention_schedule=RTCAttentionSchedule.LINEAR,
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max_guidance_weight=5.0,
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execution_horizon=10,
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debug=True,
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debug_maxlen=1000,
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)
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assert config.enabled is True
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assert config.debug is True
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assert config.debug_maxlen == 1000
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def test_rtc_config_disabled_mode():
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"""Test RTCConfig in disabled mode."""
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config = RTCConfig(enabled=False)
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assert config.enabled is False
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# Other settings still accessible even when disabled
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assert config.max_guidance_weight == 10.0
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assert config.execution_horizon == 10
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# ====================== Dataclass Tests ======================
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def test_rtc_config_is_dataclass():
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"""Test that RTCConfig is a dataclass."""
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from dataclasses import is_dataclass
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assert is_dataclass(RTCConfig)
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def test_rtc_config_equality():
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"""Test RTCConfig equality comparison."""
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config1 = RTCConfig(enabled=True, max_guidance_weight=5.0)
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config2 = RTCConfig(enabled=True, max_guidance_weight=5.0)
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config3 = RTCConfig(enabled=False, max_guidance_weight=5.0)
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assert config1 == config2
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assert config1 != config3
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def test_rtc_config_repr():
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"""Test RTCConfig string representation."""
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config = RTCConfig(enabled=True, execution_horizon=20)
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repr_str = repr(config)
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assert "RTCConfig" in repr_str
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assert "enabled=True" in repr_str
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assert "execution_horizon=20" in repr_str
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# ====================== Edge Cases Tests ======================
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def test_rtc_config_very_small_max_guidance_weight():
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"""Test RTCConfig with very small positive max_guidance_weight."""
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config = RTCConfig(max_guidance_weight=1e-10)
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assert config.max_guidance_weight == pytest.approx(1e-10)
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def test_rtc_config_very_large_max_guidance_weight():
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"""Test RTCConfig with very large max_guidance_weight."""
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config = RTCConfig(max_guidance_weight=1e10)
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assert config.max_guidance_weight == pytest.approx(1e10)
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def test_rtc_config_minimum_debug_maxlen():
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"""Test RTCConfig with minimum valid debug_maxlen."""
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config = RTCConfig(debug_maxlen=1)
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assert config.debug_maxlen == 1
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def test_rtc_config_float_max_guidance_weight():
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"""Test RTCConfig with float max_guidance_weight."""
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config = RTCConfig(max_guidance_weight=3.14159)
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assert config.max_guidance_weight == pytest.approx(3.14159)
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# ====================== Type Tests ======================
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def test_rtc_config_enabled_type():
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"""Test RTCConfig enabled field accepts boolean."""
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config = RTCConfig(enabled=True)
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assert isinstance(config.enabled, bool)
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def test_rtc_config_execution_horizon_type():
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"""Test RTCConfig execution_horizon field accepts integer."""
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config = RTCConfig(execution_horizon=15)
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assert isinstance(config.execution_horizon, int)
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def test_rtc_config_max_guidance_weight_type():
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"""Test RTCConfig max_guidance_weight field accepts float."""
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config = RTCConfig(max_guidance_weight=7.5)
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assert isinstance(config.max_guidance_weight, float)
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def test_rtc_config_debug_maxlen_type():
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"""Test RTCConfig debug_maxlen field accepts integer."""
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config = RTCConfig(debug_maxlen=200)
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assert isinstance(config.debug_maxlen, int)
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