Address Jess comments

lerobot/common/robot_devices/cameras/intelrealsense.py

@@ -33,7 +33,7 @@ def find_camera_indices(raise_when_empty=True, mock=False) -> list[int]:
     connected to the computer.
     """
     if mock:
-        from tests.mock_intelrealsense import (
+        from tests.mock_pyrealsense2 import (
             RSCameraInfo,
             RSContext,
         )
@@ -82,7 +82,7 @@ def save_images_from_cameras(
         camera_ids = find_camera_indices(mock=mock)
 
     if mock:
-        from tests.mock_opencv import COLOR_RGB2BGR, cvtColor
+        from tests.mock_cv2 import COLOR_RGB2BGR, cvtColor
     else:
         from cv2 import COLOR_RGB2BGR, cvtColor
 
@@ -263,7 +263,7 @@ class IntelRealSenseCamera:
             )
 
         if self.mock:
-            from tests.mock_intelrealsense import (
+            from tests.mock_pyrealsense2 import (
                 RSConfig,
                 RSFormat,
                 RSPipeline,
@@ -373,7 +373,7 @@ class IntelRealSenseCamera:
         # IntelRealSense uses RGB format as default (red, green, blue).
         if requested_color_mode == "bgr":
             if self.mock:
-                from tests.mock_opencv import COLOR_RGB2BGR, cvtColor
+                from tests.mock_cv2 import COLOR_RGB2BGR, cvtColor
             else:
                 from cv2 import COLOR_RGB2BGR, cvtColor
 
@@ -430,6 +430,7 @@ class IntelRealSenseCamera:
 
         num_tries = 0
         while self.color_image is None:
+            # TODO(rcadene, aliberts): intelrealsense has diverged compared to opencv over here
             num_tries += 1
             time.sleep(1 / self.fps)
             if num_tries > self.fps and (self.thread.ident is None or not self.thread.is_alive()):

lerobot/common/robot_devices/cameras/opencv.py

@@ -47,7 +47,7 @@ def find_camera_indices(raise_when_empty=False, max_index_search_range=MAX_OPENC
         possible_camera_ids = range(max_index_search_range)
 
     if mock:
-        from tests.mock_opencv import VideoCapture
+        from tests.mock_cv2 import VideoCapture
     else:
         from cv2 import VideoCapture
 
@@ -244,24 +244,24 @@ class OpenCVCamera:
             raise RobotDeviceAlreadyConnectedError(f"OpenCVCamera({self.camera_index}) is already connected.")
 
         if self.mock:
-            from tests.mock_opencv import (
+            from tests.mock_cv2 import (
                 CAP_PROP_FPS,
                 CAP_PROP_FRAME_HEIGHT,
                 CAP_PROP_FRAME_WIDTH,
                 VideoCapture,
             )
         else:
-            import cv2
             from cv2 import (
                 CAP_PROP_FPS,
                 CAP_PROP_FRAME_HEIGHT,
                 CAP_PROP_FRAME_WIDTH,
                 VideoCapture,
+                setNumThreads,
             )
 
             # Use 1 thread to avoid blocking the main thread. Especially useful during data collection
             # when other threads are used to save the images.
-            cv2.setNumThreads(1)
+            setNumThreads(1)
 
         camera_idx = f"/dev/video{self.camera_index}" if platform.system() == "Linux" else self.camera_index
         with self.lock:
@@ -356,7 +356,7 @@ class OpenCVCamera:
         # so we convert the image color from BGR to RGB.
         if requested_color_mode == "rgb":
             if self.mock:
-                from tests.mock_opencv import COLOR_BGR2RGB, cvtColor
+                from tests.mock_cv2 import COLOR_BGR2RGB, cvtColor
             else:
                 from cv2 import COLOR_BGR2RGB, cvtColor
 
@@ -409,10 +409,6 @@ class OpenCVCamera:
             num_tries += 1
             if num_tries > self.fps * 2:
                 raise TimeoutError("Timed out waiting for async_read() to start.")
-            # if num_tries > self.fps and (self.thread.ident is None or not self.thread.is_alive()):
-            #     raise Exception(
-            #         "The thread responsible for `self.async_read()` took too much time to start. There might be an issue. Verify that `self.thread.start()` has been called."
-            #     )
 
     def disconnect(self):
         if not self.is_connected:

lerobot/common/robot_devices/motors/dynamixel.py

@@ -143,8 +143,6 @@ MODEL_BAUDRATE_TABLE = {
 NUM_READ_RETRY = 10
 NUM_WRITE_RETRY = 10
 
-COMM_SUCCESS = 0
-
 
 def convert_degrees_to_steps(degrees: float | np.ndarray, models: str | list[str]) -> np.ndarray:
     """This function converts the degree range to the step range for indicating motors rotation.
@@ -363,7 +361,7 @@ class DynamixelMotorsBus:
             )
 
         if self.mock:
-            from tests.mock_dynamixel import PacketHandler, PortHandler
+            from tests.mock_dynamixel_sdk import PacketHandler, PortHandler
         else:
             from dynamixel_sdk import PacketHandler, PortHandler
 
@@ -401,7 +399,7 @@ class DynamixelMotorsBus:
 
     def reconnect(self):
         if self.mock:
-            from tests.mock_dynamixel import PacketHandler, PortHandler
+            from tests.mock_dynamixel_sdk import PacketHandler, PortHandler
         else:
             from dynamixel_sdk import PacketHandler, PortHandler
 
@@ -797,9 +795,9 @@ class DynamixelMotorsBus:
 
     def _read_with_motor_ids(self, motor_models, motor_ids, data_name):
         if self.mock:
-            from tests.mock_dynamixel import GroupSyncRead
+            from tests.mock_dynamixel_sdk import COMM_SUCCESS, GroupSyncRead
         else:
-            from dynamixel_sdk import GroupSyncRead
+            from dynamixel_sdk import COMM_SUCCESS, GroupSyncRead
 
         return_list = True
         if not isinstance(motor_ids, list):
@@ -838,9 +836,9 @@ class DynamixelMotorsBus:
         start_time = time.perf_counter()
 
         if self.mock:
-            from tests.mock_dynamixel import GroupSyncRead
+            from tests.mock_dynamixel_sdk import COMM_SUCCESS, GroupSyncRead
         else:
-            from dynamixel_sdk import GroupSyncRead
+            from dynamixel_sdk import COMM_SUCCESS, GroupSyncRead
 
         if motor_names is None:
             motor_names = self.motor_names
@@ -902,9 +900,9 @@ class DynamixelMotorsBus:
 
     def _write_with_motor_ids(self, motor_models, motor_ids, data_name, values):
         if self.mock:
-            from tests.mock_dynamixel import GroupSyncWrite
+            from tests.mock_dynamixel_sdk import COMM_SUCCESS, GroupSyncWrite
         else:
-            from dynamixel_sdk import GroupSyncWrite
+            from dynamixel_sdk import COMM_SUCCESS, GroupSyncWrite
 
         if not isinstance(motor_ids, list):
             motor_ids = [motor_ids]
@@ -934,9 +932,9 @@ class DynamixelMotorsBus:
         start_time = time.perf_counter()
 
         if self.mock:
-            from tests.mock_dynamixel import GroupSyncWrite
+            from tests.mock_dynamixel_sdk import COMM_SUCCESS, GroupSyncWrite
         else:
-            from dynamixel_sdk import GroupSyncWrite
+            from dynamixel_sdk import COMM_SUCCESS, GroupSyncWrite
 
         if motor_names is None:
             motor_names = self.motor_names

tests/utils.py

@@ -204,7 +204,7 @@ def require_robot(func):
 
     @wraps(func)
     def wrapper(*args, **kwargs):
-        # Access the pytest request context to get the mockeypatch fixture
+        # Access the pytest request context to get the is_robot_available fixture
         request = kwargs.get("request")
         robot_type = kwargs.get("robot_type")
         mock = kwargs.get("mock")
@@ -228,6 +228,7 @@ def require_robot(func):
 def require_camera(func):
     @wraps(func)
     def wrapper(*args, **kwargs):
+        # Access the pytest request context to get the is_camera_available fixture
         request = kwargs.get("request")
         camera_type = kwargs.get("camera_type")
         mock = kwargs.get("mock")
@@ -250,7 +251,7 @@ def require_camera(func):
 def require_motor(func):
     @wraps(func)
     def wrapper(*args, **kwargs):
-        # Access the pytest request context to get the mockeypatch fixture
+        # Access the pytest request context to get the is_motor_available fixture
         request = kwargs.get("request")
         motor_type = kwargs.get("motor_type")
         mock = kwargs.get("mock")