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e479c46 | 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 51 52 | # SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
# SPDX-License-Identifier: Apache-2.0
#
# 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 __future__ import annotations
import os
import sys
import pytest
from test_support.readme import extract_code_blocks, find_block
from test_support.runtime import get_root, run_subprocess_step
REPO_ROOT = get_root()
DATA_CONFIG_README = REPO_ROOT / "getting_started" / "data_config.md"
_IMPORTS = (
"from gr00t.data.types import ModalityConfig, ActionConfig, ActionFormat, ActionRepresentation, ActionType\n"
"from gr00t.data.embodiment_tags import EmbodimentTag\n"
"from gr00t.configs.data.embodiment_configs import MODALITY_CONFIGS, register_modality_config\n"
"MODALITY_CONFIGS.pop(EmbodimentTag.NEW_EMBODIMENT.value, None)\n"
)
_REGISTER = "register_modality_config(so100_config, embodiment_tag=EmbodimentTag.NEW_EMBODIMENT)\n"
@pytest.mark.serial
def test_complete_so100_config() -> None:
"""The complete SO-100 config example in data_config.md executes without error."""
blocks = extract_code_blocks(DATA_CONFIG_README)
so100 = find_block(blocks, "so100_config = {", language="python", occurrence=2)
code = _IMPORTS + "\n" + so100.code + "\n" + _REGISTER
env = {**os.environ}
# Inherit the parent venv; `uv run` here would rebuild gr00t every call.
run_subprocess_step(
[sys.executable, "-c", code],
step="so100_config",
cwd=REPO_ROOT,
env=env,
)
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