Plugins & the registry

RoboLens components register by name and resolve from strings — the mechanism the CLI and eval("...", "...", "...") use. In-tree builtins register via decorators; out-of-tree packages publish entry points, so an installed plugin appears in robolens list without being imported first.

Decorators

from robolens.registry import embodiment, policy, scorer, task

@policy("my-vla")
class MyVLA: ...

@embodiment("my-arm")
class MyArm: ...

@scorer("smooth")
def smooth(): ...

@task("my-bench")
def my_bench(): ...

Resolving

from robolens.registry import registered, resolve

registered("policy")          # {"scripted": ..., "random": ..., "my-vla": ...}
policy = resolve("policy", "my-vla", checkpoint="...")   # constructor kwargs forwarded

Shipping an out-of-tree plugin

Publish entry points from your package's pyproject.toml:

[project.entry-points."robolens.embodiments"]
maniskill = "robolens_maniskill:ManiSkillEmbodiment"

[project.entry-points."robolens.policies"]
openvla = "robolens_openvla:OpenVLAPolicy"

Groups: robolens.tasks, robolens.policies, robolens.embodiments, robolens.scorers, robolens.sinks. After pip install robolens-maniskill, it shows up in robolens list and resolves by name in eval() and the CLI.

This is how the ecosystem stays decoupled: this repository is the framework; specific simulators, VLA weights, and benchmarks live in their own packages.