text: # Copyright (C) 2020. Huawei Technologies Co., Ltd. All rights reserved.
  #
  # Permission is hereby granted, free of charge, to any person obtaining a copy
  # of this software and associated documentation files (the "Software"), to deal
  # in the Software without restriction, including without limitation the rights
  # to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
  # copies of the Software, and to permit persons to whom the Software is
  # furnished to do so, subject to the following conditions:
  #
  # The above copyright notice and this permission notice shall be included in
  # all copies or substantial portions of the Software.
  #
  # THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
  # IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
  # FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
  # AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
  # LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
  # OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
  # THE SOFTWARE.
  from smarts.core.utils.class_factory import ClassRegister
  
  agent_registry = ClassRegister()
  
  
  def register(locator: str, entry_point, **kwargs):
      """Register an AgentSpec with the zoo.
  
      In order to load a registered AgentSpec it needs to be reachable from a
      directory contained in the PYTHONPATH.
  
      Args:
          locator:
              A string in the format of 'locator-name'
          entry_point:
              A callable that returns an AgentSpec or an AgentSpec object
  
      For example:
  
      .. code-block:: python
  
          register(
              locator="motion-planner-agent-v0",
              entry_point=lambda **kwargs: AgentSpec(
                  interface=AgentInterface(waypoints=True, action=ActionSpaceType.TargetPose),
                  policy_builder=MotionPlannerPolicy,
              ),
          )
      """
  
      agent_registry.register(locator=locator, entry_point=entry_point, **kwargs)
  
  
  def make(locator: str, **kwargs):
      """Create an AgentSpec from the given locator.
  
      In order to load a registered AgentSpec it needs to be reachable from a
      directory contained in the PYTHONPATH.
  
      Args:
          locator:
              A string in the format of 'path.to.file:locator-name' where the path
              is in the form `{PYTHONPATH}[n]/path/to/file.py`
          kwargs:
              Additional arguments to be passed to the constructed class.
      """
  
      from smarts.core.agent import AgentSpec
  
      agent_spec = agent_registry.make(locator, **kwargs)
      assert isinstance(
          agent_spec, AgentSpec
      ), f"Expected make to produce an instance of AgentSpec, got: {agent_spec}"
  
      return agent_spec
  