diff --git a/tests/test_control_robot.py b/tests/test_control_robot.py
index 484af611d..767adef62 100644
--- a/tests/test_control_robot.py
+++ b/tests/test_control_robot.py
@@ -23,7 +23,6 @@ pytest -sx 'tests/test_control_robot.py::test_teleoperate[aloha-True]'
 ```
 """
 
-import json
 import multiprocessing
 from pathlib import Path
 from unittest.mock import patch
@@ -37,32 +36,7 @@ from lerobot.common.utils.utils import init_hydra_config
 from lerobot.scripts.control_robot import calibrate, record, replay, teleoperate
 from lerobot.scripts.train import make_optimizer_and_scheduler
 from tests.test_robots import make_robot
-from tests.utils import DEFAULT_CONFIG_PATH, DEVICE, TEST_ROBOT_TYPES, require_robot
-
-
-def mock_calibration_dir(calibration_dir):
-    # calibration file produced with Moss v1, but works with Koch, Koch bimanual and SO-100
-    example_calib = {
-        "homing_offset": [-1416, -845, 2130, 2872, 1950, -2211],
-        "drive_mode": [0, 0, 1, 1, 1, 0],
-        "start_pos": [1442, 843, 2166, 2849, 1988, 1835],
-        "end_pos": [2440, 1869, -1106, -1848, -926, 3235],
-        "calib_mode": ["DEGREE", "DEGREE", "DEGREE", "DEGREE", "DEGREE", "LINEAR"],
-        "motor_names": ["shoulder_pan", "shoulder_lift", "elbow_flex", "wrist_flex", "wrist_roll", "gripper"],
-    }
-    calibration_dir.mkdir(parents=True, exist_ok=True)
-    with open(calibration_dir / "main_follower.json", "w") as f:
-        json.dump(example_calib, f)
-    with open(calibration_dir / "main_leader.json", "w") as f:
-        json.dump(example_calib, f)
-    with open(calibration_dir / "left_follower.json", "w") as f:
-        json.dump(example_calib, f)
-    with open(calibration_dir / "left_leader.json", "w") as f:
-        json.dump(example_calib, f)
-    with open(calibration_dir / "right_follower.json", "w") as f:
-        json.dump(example_calib, f)
-    with open(calibration_dir / "right_leader.json", "w") as f:
-        json.dump(example_calib, f)
+from tests.utils import DEFAULT_CONFIG_PATH, DEVICE, TEST_ROBOT_TYPES, mock_calibration_dir, require_robot
 
 
 @pytest.mark.parametrize("robot_type, mock", TEST_ROBOT_TYPES)
diff --git a/tests/test_robots.py b/tests/test_robots.py
index 13ad8c450..0ee2d6136 100644
--- a/tests/test_robots.py
+++ b/tests/test_robots.py
@@ -30,7 +30,7 @@ import torch
 
 from lerobot.common.robot_devices.robots.manipulator import ManipulatorRobot
 from lerobot.common.robot_devices.utils import RobotDeviceAlreadyConnectedError, RobotDeviceNotConnectedError
-from tests.utils import TEST_ROBOT_TYPES, make_robot, require_robot
+from tests.utils import TEST_ROBOT_TYPES, make_robot, mock_calibration_dir, require_robot
 
 
 @pytest.mark.parametrize("robot_type, mock", TEST_ROBOT_TYPES)
@@ -54,6 +54,7 @@ def test_robot(tmpdir, request, robot_type, mock):
         tmpdir = Path(tmpdir)
         calibration_dir = tmpdir / robot_type
         overrides_calibration_dir = [f"calibration_dir={calibration_dir}"]
+        mock_calibration_dir(calibration_dir)
         robot_kwargs["calibration_dir"] = calibration_dir
 
     # Test connecting without devices raises an error
diff --git a/tests/utils.py b/tests/utils.py
index da5c06dc1..f24b3551c 100644
--- a/tests/utils.py
+++ b/tests/utils.py
@@ -13,10 +13,12 @@
 # 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 json
 import os
 import platform
 from copy import copy
 from functools import wraps
+from pathlib import Path
 
 import pytest
 import torch
@@ -281,6 +283,32 @@ def require_motor(func):
     return wrapper
 
 
+def mock_calibration_dir(calibration_dir):
+    # TODO(rcadene): remove this hack
+    # calibration file produced with Moss v1, but works with Koch, Koch bimanual and SO-100
+    example_calib = {
+        "homing_offset": [-1416, -845, 2130, 2872, 1950, -2211],
+        "drive_mode": [0, 0, 1, 1, 1, 0],
+        "start_pos": [1442, 843, 2166, 2849, 1988, 1835],
+        "end_pos": [2440, 1869, -1106, -1848, -926, 3235],
+        "calib_mode": ["DEGREE", "DEGREE", "DEGREE", "DEGREE", "DEGREE", "LINEAR"],
+        "motor_names": ["shoulder_pan", "shoulder_lift", "elbow_flex", "wrist_flex", "wrist_roll", "gripper"],
+    }
+    Path(str(calibration_dir)).mkdir(parents=True, exist_ok=True)
+    with open(calibration_dir / "main_follower.json", "w") as f:
+        json.dump(example_calib, f)
+    with open(calibration_dir / "main_leader.json", "w") as f:
+        json.dump(example_calib, f)
+    with open(calibration_dir / "left_follower.json", "w") as f:
+        json.dump(example_calib, f)
+    with open(calibration_dir / "left_leader.json", "w") as f:
+        json.dump(example_calib, f)
+    with open(calibration_dir / "right_follower.json", "w") as f:
+        json.dump(example_calib, f)
+    with open(calibration_dir / "right_leader.json", "w") as f:
+        json.dump(example_calib, f)
+
+
 def make_robot(robot_type: str, overrides: list[str] | None = None, mock=False) -> Robot:
     if mock:
         overrides = [] if overrides is None else copy(overrides)