fix unit tests

tests/test_control_robot.py

@@ -27,16 +27,15 @@ from pathlib import Path
 
 import pytest
 
+from lerobot import available_robots
 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 DEFAULT_CONFIG_PATH, DEVICE, TEST_ROBOT_TYPES, require_robot
+from tests.utils import DEFAULT_CONFIG_PATH, DEVICE, require_mock_robot, require_robot
 
 
-@pytest.mark.parametrize("robot_type, mock", TEST_ROBOT_TYPES)
-@require_robot
-def test_teleoperate(request, robot_type, mock):
+def _test_teleoperate(robot_type):
     robot = make_robot(robot_type)
     teleoperate(robot, teleop_time_s=1)
     teleoperate(robot, fps=30, teleop_time_s=1)
@@ -44,17 +43,13 @@ def test_teleoperate(request, robot_type, mock):
     del robot
 
 
-@pytest.mark.parametrize("robot_type, mock", TEST_ROBOT_TYPES)
-@require_robot
-def test_calibrate(request, robot_type, mock):
+def _test_calibrate(robot_type):
     robot = make_robot(robot_type)
     calibrate(robot, arms=get_available_arms(robot))
     del robot
 
 
-@pytest.mark.parametrize("robot_type, mock", TEST_ROBOT_TYPES)
-@require_robot
-def test_record_without_cameras(tmpdir, request, robot_type, mock):
+def _test_record_without_cameras(tmpdir, robot_type):
     root = Path(tmpdir)
     repo_id = "lerobot/debug"
 
@@ -73,9 +68,7 @@ def test_record_without_cameras(tmpdir, request, robot_type, mock):
     )
 
 
-@pytest.mark.parametrize("robot_type, mock", TEST_ROBOT_TYPES)
-@require_robot
-def test_record_and_replay_and_policy(tmpdir, request, robot_type, mock):
+def _test_record_and_replay_and_policy(tmpdir, robot_type):
     env_name = "koch_real"
     policy_name = "act_koch_real"
 
@@ -122,3 +115,51 @@ def test_record_and_replay_and_policy(tmpdir, request, robot_type, mock):
     )
 
     del robot
+
+
+@pytest.mark.parametrize("robot_type", available_robots)
+@require_mock_robot
+def test_teleoperate_mock(monkeypatch, robot_type):
+    _test_teleoperate(robot_type)
+
+
+@pytest.mark.parametrize("robot_type", available_robots)
+@require_robot
+def test_teleoperate(request, robot_type):
+    _test_teleoperate(robot_type)
+
+
+@pytest.mark.parametrize("robot_type", available_robots)
+@require_mock_robot
+def test_calibrate_mock(monkeypatch, robot_type):
+    _test_calibrate(robot_type)
+
+
+@pytest.mark.parametrize("robot_type", available_robots)
+@require_robot
+def test_calibrate(request, robot_type):
+    _test_calibrate(robot_type)
+
+
+@pytest.mark.parametrize("robot_type", available_robots)
+@require_mock_robot
+def test_record_without_cameras_mock(tmpdir, monkeypatch, robot_type):
+    _test_record_without_cameras(tmpdir, robot_type)
+
+
+@pytest.mark.parametrize("robot_type", available_robots)
+@require_robot
+def test_record_without_cameras(tmpdir, request, robot_type):
+    _test_record_without_cameras(tmpdir, robot_type)
+
+
+@pytest.mark.parametrize("robot_type", available_robots)
+@require_mock_robot
+def test_record_and_replay_and_policy_mock(tmpdir, monkeypatch, robot_type):
+    _test_record_and_replay_and_policy(tmpdir, robot_type)
+
+
+@pytest.mark.parametrize("robot_type", available_robots)
+@require_robot
+def test_record_and_replay_and_policy(tmpdir, request, robot_type):
+    _test_record_and_replay_and_policy(tmpdir, robot_type)