tests/policies/rtc/test_configuration_rtc.py

#!/usr/bin/env python

# Copyright 2025 The HuggingFace Inc. team. All rights reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#     http://www.apache.org/licenses/LICENSE-2.0
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# Unless required by applicable law or agreed to in writing, software
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"""Tests for RTC configuration module."""

from lerobot.configs.types import RTCAttentionSchedule
from lerobot.policies.rtc.configuration_rtc import RTCConfig

# ====================== Initialization Tests ======================


def test_rtc_config_default_initialization():
    """Test RTCConfig initializes with default values."""
    config = RTCConfig()

    assert config.enabled is False
    assert config.prefix_attention_schedule == RTCAttentionSchedule.LINEAR
    assert config.max_guidance_weight == 10.0
    assert config.execution_horizon == 10
    assert config.debug is False
    assert config.debug_maxlen == 100


def test_rtc_config_custom_initialization():
    """Test RTCConfig initializes with custom values."""
    config = RTCConfig(
        enabled=True,
        prefix_attention_schedule=RTCAttentionSchedule.EXP,
        max_guidance_weight=5.0,
        execution_horizon=20,
        debug=True,
        debug_maxlen=200,
    )

    assert config.enabled is True
    assert config.prefix_attention_schedule == RTCAttentionSchedule.EXP
    assert config.max_guidance_weight == 5.0
    assert config.execution_horizon == 20
    assert config.debug is True
    assert config.debug_maxlen == 200


def test_rtc_config_partial_initialization():
    """Test RTCConfig with partial custom values."""
    config = RTCConfig(enabled=True, max_guidance_weight=15.0)

    assert config.enabled is True
    assert config.max_guidance_weight == 15.0
    # Other values should be defaults
    assert config.prefix_attention_schedule == RTCAttentionSchedule.LINEAR
    assert config.execution_horizon == 10
    assert config.debug is False