Revert "Remove @require_x"

This reverts commit 8a7b5c45c7.

tests/test_cameras.py

@@ -25,11 +25,7 @@ import numpy as np
 import pytest
 
 from lerobot.common.robot_devices.utils import RobotDeviceAlreadyConnectedError, RobotDeviceNotConnectedError
-from tests.utils import (
+from tests.utils import TEST_CAMERA_TYPES, make_camera, require_camera
-    TEST_CAMERA_TYPES,
-    make_camera,
-    mock_camera_or_skip_test_when_not_available,
-)
 
 # Maximum absolute difference between two consecutive images recored by a camera.
 # This value differs with respect to the camera.
@@ -41,7 +37,8 @@ def compute_max_pixel_difference(first_image, second_image):
 
 
 @pytest.mark.parametrize("camera_type, mock", TEST_CAMERA_TYPES)
-def test_camera(monkeypatch, camera_type, mock):
+@require_camera
+def test_camera(request, camera_type, mock):
     """Test assumes that `camera.read()` returns the same image when called multiple times in a row.
     So the environment should not change (you shouldnt be in front of the camera) and the camera should not be moving.
 
@@ -51,8 +48,6 @@ def test_camera(monkeypatch, camera_type, mock):
     # TODO(rcadene): measure fps in nightly?
     # TODO(rcadene): test logs
 
-    mock_camera_or_skip_test_when_not_available(monkeypatch, camera_type, mock)
-
     # Test instantiating
     camera = make_camera(camera_type)
 
@@ -146,10 +141,9 @@ def test_camera(monkeypatch, camera_type, mock):
 
 
 @pytest.mark.parametrize("camera_type, mock", TEST_CAMERA_TYPES)
-def test_save_images_from_cameras(tmpdir, monkeypatch, camera_type, mock):
+@require_camera
+def test_save_images_from_cameras(tmpdir, request, camera_type, mock):
     # TODO(rcadene): refactor
-    mock_camera_or_skip_test_when_not_available(monkeypatch, camera_type, mock)
-
     if camera_type == "opencv":
         from lerobot.common.robot_devices.cameras.opencv import save_images_from_cameras
     elif camera_type == "intelrealsense":

tests/test_control_robot.py

@@ -31,18 +31,12 @@ from lerobot.common.policies.factory import make_policy
 from lerobot.common.utils.utils import init_hydra_config
 from lerobot.scripts.control_robot import calibrate, get_available_arms, record, replay, teleoperate
 from tests.test_robots import make_robot
-from tests.utils import (
+from tests.utils import DEFAULT_CONFIG_PATH, DEVICE, TEST_ROBOT_TYPES, require_robot
-    DEFAULT_CONFIG_PATH,
-    DEVICE,
-    TEST_ROBOT_TYPES,
-    mock_robot_or_skip_test_when_not_available,
-)
 
 
 @pytest.mark.parametrize("robot_type, mock", TEST_ROBOT_TYPES)
-def test_teleoperate(monkeypatch, robot_type, mock):
+@require_robot
-    mock_robot_or_skip_test_when_not_available(monkeypatch, robot_type, mock)
+def test_teleoperate(request, robot_type, mock):
-
     robot = make_robot(robot_type)
     teleoperate(robot, teleop_time_s=1)
     teleoperate(robot, fps=30, teleop_time_s=1)
@@ -51,18 +45,16 @@ def test_teleoperate(monkeypatch, robot_type, mock):
 
 
 @pytest.mark.parametrize("robot_type, mock", TEST_ROBOT_TYPES)
-def test_calibrate(monkeypatch, robot_type, mock):
+@require_robot
-    mock_robot_or_skip_test_when_not_available(monkeypatch, robot_type, mock)
+def test_calibrate(request, robot_type, mock):
-
     robot = make_robot(robot_type)
     calibrate(robot, arms=get_available_arms(robot))
     del robot
 
 
 @pytest.mark.parametrize("robot_type, mock", TEST_ROBOT_TYPES)
-def test_record_without_cameras(tmpdir, monkeypatch, robot_type, mock):
+@require_robot
-    mock_robot_or_skip_test_when_not_available(monkeypatch, robot_type, mock)
+def test_record_without_cameras(tmpdir, request, robot_type, mock):
-
     root = Path(tmpdir)
     repo_id = "lerobot/debug"
 
@@ -82,9 +74,8 @@ def test_record_without_cameras(tmpdir, monkeypatch, robot_type, mock):
 
 
 @pytest.mark.parametrize("robot_type, mock", TEST_ROBOT_TYPES)
-def test_record_and_replay_and_policy(tmpdir, monkeypatch, robot_type, mock):
+@require_robot
-    mock_robot_or_skip_test_when_not_available(monkeypatch, robot_type, mock)
+def test_record_and_replay_and_policy(tmpdir, request, robot_type, mock):
-
     env_name = "koch_real"
     policy_name = "act_koch_real"
 

tests/test_motors.py

@@ -31,22 +31,17 @@ import numpy as np
 import pytest
 
 from lerobot.common.robot_devices.utils import RobotDeviceAlreadyConnectedError, RobotDeviceNotConnectedError
-from tests.utils import (
+from tests.utils import TEST_MOTOR_TYPES, make_motors_bus, mock_input, require_motor
-    TEST_MOTOR_TYPES,
-    make_motors_bus,
-    mock_input,
-    mock_motor_or_skip_test_when_not_available,
-)
 
 
 @pytest.mark.parametrize("motor_type, mock", TEST_MOTOR_TYPES)
-def test_find_port(monkeypatch, motor_type, mock):
+@require_motor
-    mock_motor_or_skip_test_when_not_available(monkeypatch, motor_type, mock)
+def test_find_port(request, motor_type, mock):
-
     from lerobot.common.robot_devices.motors.dynamixel import find_port
 
     if mock:
         # To run find_port without user input
+        monkeypatch = request.getfixturevalue("monkeypatch")
         monkeypatch.setattr("builtins.input", mock_input)
 
         with pytest.raises(OSError):
@@ -56,11 +51,11 @@ def test_find_port(monkeypatch, motor_type, mock):
 
 
 @pytest.mark.parametrize("motor_type, mock", TEST_MOTOR_TYPES)
-def test_configure_motors_all_ids_1(monkeypatch, motor_type, mock):
+@require_motor
-    mock_motor_or_skip_test_when_not_available(monkeypatch, motor_type, mock)
+def test_configure_motors_all_ids_1(request, motor_type, mock):
-
     if mock:
         # To run find_port without user input
+        monkeypatch = request.getfixturevalue("monkeypatch")
         monkeypatch.setattr("builtins.input", mock_input)
 
     input("Are you sure you want to re-configure the motors? Press enter to continue...")
@@ -80,9 +75,8 @@ def test_configure_motors_all_ids_1(monkeypatch, motor_type, mock):
 
 
 @pytest.mark.parametrize("motor_type, mock", TEST_MOTOR_TYPES)
-def test_motors_bus(monkeypatch, motor_type, mock):
+@require_motor
-    mock_motor_or_skip_test_when_not_available(monkeypatch, motor_type, mock)
+def test_motors_bus(request, motor_type, mock):
-
     motors_bus = make_motors_bus(motor_type)
 
     # Test reading and writting before connecting raises an error

tests/test_robots.py

@@ -29,16 +29,15 @@ import pytest
 import torch
 
 from lerobot.common.robot_devices.utils import RobotDeviceAlreadyConnectedError, RobotDeviceNotConnectedError
-from tests.utils import TEST_ROBOT_TYPES, make_robot, mock_robot_or_skip_test_when_not_available
+from tests.utils import TEST_ROBOT_TYPES, make_robot, require_robot
 
 
 @pytest.mark.parametrize("robot_type, mock", TEST_ROBOT_TYPES)
-def test_robot(tmpdir, monkeypatch, robot_type, mock):
+@require_robot
+def test_robot(tmpdir, request, robot_type, mock):
     # TODO(rcadene): measure fps in nightly?
     # TODO(rcadene): test logs
     # TODO(rcadene): add compatibility with other robots
-    mock_robot_or_skip_test_when_not_available(monkeypatch, robot_type, mock)
-
     from lerobot.common.robot_devices.robots.manipulator import ManipulatorRobot
 
     if robot_type == "aloha" and mock:

tests/utils.py

@@ -185,52 +185,134 @@ def require_package(package_name):
     return decorator
 
 
-def mock_robot_or_skip_test_when_not_available(monkeypatch, robot_type, mock):
+def require_robot(func):
-    if mock:
+    """
+    Decorator that skips the test if a robot is not available
+
+    The decorated function must have two arguments `request` and `robot_type`.
+
+    Example of usage:
+    ```python
+    @pytest.mark.parametrize(
+        "robot_type", ["koch", "aloha"]
+    )
+    @require_robot
+    def test_require_robot(request, robot_type):
+        pass
+    ```
+    """
+
+    @wraps(func)
+    def wrapper(*args, **kwargs):
+        # Access the pytest request context to get the mockeypatch fixture
+        request = kwargs.get("request")
+        robot_type = kwargs.get("robot_type")
+        mock = kwargs.get("mock")
+
+        if robot_type is None:
+            raise ValueError("The 'robot_type' must be an argument of the test function.")
+        if request is None:
+            raise ValueError("The 'request' fixture must be an argument of the test function.")
+        if mock is None:
+            raise ValueError("The 'mock' variable must be an argument of the test function.")
+
+        if robot_type not in available_robots:
+            raise ValueError(
+                f"The camera type '{robot_type}' is not valid. Expected one of these '{available_robots}"
+            )
+
         # Run test with a monkeypatched version of the robot devices.
-        # TODO(rcadene): redesign mocking to not have this hardcoded logic
+        if mock:
-        if robot_type in ["koch", "koch_bimanual"]:
+            # TODO(rcadene): redesign mocking to not have this hardcoded logic
-            camera_type = "opencv"
+            if robot_type in ["koch", "koch_bimanual"]:
-        elif robot_type == "aloha":
+                camera_type = "opencv"
-            camera_type = "intelrealsense"
+            elif robot_type == "aloha":
-        else:
+                camera_type = "intelrealsense"
-            camera_type = "all"
+            else:
+                camera_type = "all"
+            mock_cameras(request, camera_type)
+            mock_motors(request)
 
-        mock_cameras(monkeypatch, camera_type)
+            # To run calibration without user input
-        mock_motors(monkeypatch)
+            monkeypatch = request.getfixturevalue("monkeypatch")
+            monkeypatch.setattr("builtins.input", mock_input)
 
-        # To run calibration without user input
-        monkeypatch.setattr("builtins.input", mock_input)
-
-    elif not is_robot_available(robot_type):
         # Run test with a real robot. Skip test if robot connection fails.
-        pytest.skip(f"A {robot_type} robot is not available.")
+        else:
+            if not is_robot_available(robot_type):
+                pytest.skip(f"A {robot_type} robot is not available.")
+
+        return func(*args, **kwargs)
+
+    return wrapper
 
 
-def mock_camera_or_skip_test_when_not_available(monkeypatch, camera_type, mock):
+def require_camera(func):
-    if camera_type not in available_cameras:
+    @wraps(func)
-        raise ValueError(
+    def wrapper(*args, **kwargs):
-            f"The camera type '{camera_type}' is not valid. Expected one of these '{available_cameras}"
+        # Access the pytest request context to get the mockeypatch fixture
-        )
+        request = kwargs.get("request")
-    if mock:
+        camera_type = kwargs.get("camera_type")
-        # Run test with a monkeypatched version of the cameras
+        mock = kwargs.get("mock")
-        mock_cameras(monkeypatch, camera_type)
+
-    elif not is_camera_available(camera_type):
+        if request is None:
-        # Run test with a real camera. Skip test if camera connection fails
+            raise ValueError("The 'request' fixture must be an argument of the test function.")
-        pytest.skip(f"A {camera_type} camera is not available.")
+        if camera_type is None:
+            raise ValueError("The 'camera_type' must be an argument of the test function.")
+        if mock is None:
+            raise ValueError("The 'mock' variable must be an argument of the test function.")
+
+        if camera_type not in available_cameras:
+            raise ValueError(
+                f"The camera type '{camera_type}' is not valid. Expected one of these '{available_cameras}"
+            )
+
+        # Run test with a monkeypatched version of the robot devices.
+        if mock:
+            mock_cameras(request, camera_type)
+
+        # Run test with a real robot. Skip test if robot connection fails.
+        else:
+            if not is_camera_available(camera_type):
+                pytest.skip(f"A {camera_type} camera is not available.")
+
+        return func(*args, **kwargs)
+
+    return wrapper
 
 
-def mock_motor_or_skip_test_when_not_available(monkeypatch, motor_type, mock):
+def require_motor(func):
-    if motor_type not in available_motors:
+    @wraps(func)
-        raise ValueError(
+    def wrapper(*args, **kwargs):
-            f"The motor type '{motor_type}' is not valid. Expected one of these '{available_motors}"
+        # Access the pytest request context to get the mockeypatch fixture
-        )
+        request = kwargs.get("request")
-    if mock:
+        motor_type = kwargs.get("motor_type")
-        # Run test with a monkeypatched version of the motors
+        mock = kwargs.get("mock")
-        mock_motors(monkeypatch)
+
-    elif not is_motor_available(motor_type):
+        if request is None:
-        # Run test with a real motor. Skip test if motor connection fails
+            raise ValueError("The 'request' fixture must be an argument of the test function.")
-        pytest.skip(f"A {motor_type} motor is not available.")
+        if motor_type is None:
+            raise ValueError("The 'motor_type' must be an argument of the test function.")
+        if mock is None:
+            raise ValueError("The 'mock' variable must be an argument of the test function.")
+
+        if motor_type not in available_motors:
+            raise ValueError(
+                f"The motor type '{motor_type}' is not valid. Expected one of these '{available_motors}"
+            )
+
+        # Run test with a monkeypatched version of the robot devices.
+        if mock:
+            mock_motors(request)
+
+        # Run test with a real robot. Skip test if robot connection fails.
+        else:
+            if not is_motor_available(motor_type):
+                pytest.skip(f"A {motor_type} motor is not available.")
+
+        return func(*args, **kwargs)
+
+    return wrapper
 
 
 def mock_input(text=None):
@@ -238,8 +320,9 @@ def mock_input(text=None):
         print(text)
 
 
-def mock_cameras(monkeypatch, camera_type="all"):
+def mock_cameras(request, camera_type="all"):
     # TODO(rcadene): Redesign the mocking tests
+    monkeypatch = request.getfixturevalue("monkeypatch")
 
     if camera_type in ["opencv", "all"]:
         try:
@@ -276,8 +359,9 @@ def mock_cameras(monkeypatch, camera_type="all"):
             )
 
 
-def mock_motors(monkeypatch):
+def mock_motors(request):
     # TODO(rcadene): Redesign the mocking tests
+    monkeypatch = request.getfixturevalue("monkeypatch")
 
     try:
         import dynamixel_sdk
@@ -349,8 +433,6 @@ def is_robot_available(robot_type):
         config_path = ROBOT_CONFIG_PATH_TEMPLATE.format(robot=robot_type)
         robot_cfg = init_hydra_config(config_path)
         robot = make_robot(robot_cfg)
-        print("DEBUG", robot.leader_arms)
-        print("DEBUG", robot.cameras)
         robot.connect()
         del robot
         return True