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#!/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
#
# 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.
import sys
from collections.abc import Generator
from dataclasses import dataclass
from pathlib import Path
import pytest
from lerobot.configs.parser import PluginLoadError, load_plugin, parse_plugin_args, wrap
from lerobot.envs.configs import EnvConfig
def create_plugin_code(*, base_class: str = "EnvConfig", plugin_name: str = "test_env") -> str:
"""Creates a dummy plugin module that implements its own EnvConfig subclass."""
return f"""
from dataclasses import dataclass
from lerobot.envs.configs import {base_class}
@{base_class}.register_subclass("{plugin_name}")
@dataclass
class TestPluginConfig:
value: int = 42
"""
@pytest.fixture
def plugin_dir(tmp_path: Path) -> Generator[Path, None, None]:
"""Creates a temporary plugin package structure."""
plugin_pkg = tmp_path / "test_plugin"
plugin_pkg.mkdir()
(plugin_pkg / "__init__.py").touch()
with open(plugin_pkg / "my_plugin.py", "w") as f:
f.write(create_plugin_code())
# Add tmp_path to Python path so we can import from it
sys.path.insert(0, str(tmp_path))
yield plugin_pkg
sys.path.pop(0)
def test_parse_plugin_args():
cli_args = [
"--env.type=test",
"--model.discover_packages_path=some.package",
"--env.discover_packages_path=other.package",
]
plugin_args = parse_plugin_args("discover_packages_path", cli_args)
assert plugin_args == {
"model.discover_packages_path": "some.package",
"env.discover_packages_path": "other.package",
}
def test_load_plugin_success(plugin_dir: Path):
# Import should work and register the plugin with the real EnvConfig
load_plugin("test_plugin")
assert "test_env" in EnvConfig.get_known_choices()
plugin_cls = EnvConfig.get_choice_class("test_env")
plugin_instance = plugin_cls()
assert plugin_instance.value == 42
def test_load_plugin_failure():
with pytest.raises(PluginLoadError) as exc_info:
load_plugin("nonexistent_plugin")
assert "Failed to load plugin 'nonexistent_plugin'" in str(exc_info.value)
def test_wrap_with_plugin(plugin_dir: Path):
@dataclass
class Config:
env: EnvConfig
@wrap()
def dummy_func(cfg: Config):
return cfg
# Test loading plugin via CLI args
sys.argv = [
"dummy_script.py",
"--env.discover_packages_path=test_plugin",
"--env.type=test_env",
]
cfg = dummy_func()
assert isinstance(cfg, Config)
assert isinstance(cfg.env, EnvConfig.get_choice_class("test_env"))
assert cfg.env.value == 42
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