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https://github.com/huggingface/lerobot.git
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Steven Palma
679faeaafc
* fix(scripts): register third-party plugins in setup-motors * test(setup-motors): cover plugin registration --------- Co-authored-by: Janos von Gencsy <janos.von-gencsy@tum.de>
50 lines
1.8 KiB
Python
50 lines
1.8 KiB
Python
# Copyright 2026 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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from types import SimpleNamespace
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from unittest.mock import MagicMock
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import pytest
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import lerobot.scripts.lerobot_setup_motors as motors_module
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def test_main_registers_plugins_before_parsing(monkeypatch):
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calls = []
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monkeypatch.setattr(motors_module, "register_third_party_plugins", lambda: calls.append("register"))
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monkeypatch.setattr(motors_module, "setup_motors", lambda: calls.append("setup"))
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motors_module.main()
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assert calls == ["register", "setup"]
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def test_setup_motors_accepts_third_party_device(monkeypatch):
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device = MagicMock()
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monkeypatch.setattr(motors_module, "make_teleoperator_from_config", lambda _: device)
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cfg = SimpleNamespace(device=SimpleNamespace(type="third_party"))
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motors_module.setup_motors.__wrapped__(cfg)
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device.setup_motors.assert_called_once_with()
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def test_setup_motors_reports_unsupported_device(monkeypatch):
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device = object()
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monkeypatch.setattr(motors_module, "make_teleoperator_from_config", lambda _: device)
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cfg = SimpleNamespace(device=SimpleNamespace(type="third_party"))
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with pytest.raises(NotImplementedError, match="third_party"):
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motors_module.setup_motors.__wrapped__(cfg)
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