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318d421 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 | # Copyright 2026 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
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
from types import SimpleNamespace
from unittest.mock import MagicMock
import pytest
import lerobot.scripts.lerobot_setup_motors as motors_module
def test_main_registers_plugins_before_parsing(monkeypatch):
calls = []
monkeypatch.setattr(motors_module, "register_third_party_plugins", lambda: calls.append("register"))
monkeypatch.setattr(motors_module, "setup_motors", lambda: calls.append("setup"))
motors_module.main()
assert calls == ["register", "setup"]
def test_setup_motors_accepts_third_party_device(monkeypatch):
device = MagicMock()
monkeypatch.setattr(motors_module, "make_teleoperator_from_config", lambda _: device)
cfg = SimpleNamespace(device=SimpleNamespace(type="third_party"))
motors_module.setup_motors.__wrapped__(cfg)
device.setup_motors.assert_called_once_with()
def test_setup_motors_reports_unsupported_device(monkeypatch):
device = object()
monkeypatch.setattr(motors_module, "make_teleoperator_from_config", lambda _: device)
cfg = SimpleNamespace(device=SimpleNamespace(type="third_party"))
with pytest.raises(NotImplementedError, match="third_party"):
motors_module.setup_motors.__wrapped__(cfg)
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