pi0.5 / tests /test_model_loader.py
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feat: select UR policy configuration
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import unittest
class ModelManagerTests(unittest.TestCase):
def test_manager_caches_same_key_and_replaces_changed_key(self):
from model_loader import ModelManager
calls = []
manager = ModelManager(
loader=lambda model, path, config: calls.append((model, path, config)) or object()
)
first = manager.get("owner/model", "a", "pi05_ur_demo_no_state")
self.assertIs(manager.get("owner/model", "a", "pi05_ur_demo_no_state"), first)
second = manager.get("owner/model", "a", "pi05_ur_demo_state")
self.assertIsNot(second, first)
self.assertEqual(calls, [
("owner/model", "a", "pi05_ur_demo_no_state"),
("owner/model", "a", "pi05_ur_demo_state"),
])
def test_failed_load_is_reported_and_can_retry(self):
from model_loader import ModelManager, ModelUnavailableError
attempts = 0
def loader(*_):
nonlocal attempts
attempts += 1
raise RuntimeError("bad checkpoint")
manager = ModelManager(loader=loader)
for _ in range(2):
with self.assertRaisesRegex(ModelUnavailableError, "bad checkpoint"):
manager.get("owner/model", "a", "pi05_ur_demo_no_state")
self.assertEqual(attempts, 2)
self.assertIn("bad checkpoint", manager.health_message)
def test_invalid_identity_is_rejected_before_loader(self):
from model_loader import ModelManager
manager = ModelManager(loader=lambda *_: self.fail("loader was called"))
with self.assertRaises(ValueError):
manager.get("", "checkpoint", "pi05_ur_demo_no_state")
def test_unsupported_policy_config_is_rejected_before_loader(self):
from model_loader import ModelManager
manager = ModelManager(loader=lambda *_: self.fail("loader was called"))
with self.assertRaisesRegex(ValueError, "unsupported policy config"):
manager.get("owner/model", "checkpoint", "pi05_libero")
if __name__ == "__main__":
unittest.main()