Skip tests if alexander koch robot is not available

tests/conftest.py

@@ -13,8 +13,25 @@
 # 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 pytest
+
 from .utils import DEVICE
 
 
 def pytest_collection_finish():
     print(f"\nTesting with {DEVICE=}")
+
+
+@pytest.fixture(scope="session")
+def is_koch_available():
+    try:
+        from lerobot.common.robot_devices.robots.factory import make_robot
+
+        robot = make_robot("koch")
+        robot.connect()
+        del robot
+        return True
+    except Exception as e:
+        print("An alexander koch robot is not available.")
+        print(e)
+        return False

tests/test_cameras.py

@@ -3,6 +3,7 @@ import pytest
 
 from lerobot.common.robot_devices.cameras.opencv import OpenCVCamera, save_images_from_cameras
 from lerobot.common.robot_devices.utils import RobotDeviceAlreadyConnectedError, RobotDeviceNotConnectedError
+from tests.utils import require_koch
 
 CAMERA_INDEX = 2
 # Maximum absolute difference between two consecutive images recored by a camera.
@@ -14,7 +15,8 @@ def compute_max_pixel_difference(first_image, second_image):
     return np.abs(first_image.astype(float) - second_image.astype(float)).max()
 
 
-def test_camera():
+@require_koch
+def test_camera(request):
     """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.
 
@@ -118,5 +120,6 @@ def test_camera():
     del camera
 
 
-def test_save_images_from_cameras(tmpdir):
+@require_koch
+def test_save_images_from_cameras(tmpdir, request):
     save_images_from_cameras(tmpdir, record_time_s=1)

tests/test_control_robot.py

@@ -4,10 +4,11 @@ from lerobot.common.policies.factory import make_policy
 from lerobot.common.robot_devices.robots.factory import make_robot
 from lerobot.common.utils.utils import init_hydra_config
 from lerobot.scripts.control_robot import record_dataset, replay_episode, run_policy, teleoperate
-from tests.utils import DEFAULT_CONFIG_PATH, DEVICE
+from tests.utils import DEFAULT_CONFIG_PATH, DEVICE, require_koch
 
 
-def test_teleoperate():
+@require_koch
+def test_teleoperate(request):
     robot = make_robot("koch")
     teleoperate(robot, teleop_time_s=1)
     teleoperate(robot, fps=30, teleop_time_s=1)
@@ -15,13 +16,13 @@ def test_teleoperate():
     del robot
 
 
-def test_record_dataset_and_replay_episode_and_run_policy(tmpdir):
+@require_koch
+def test_record_dataset_and_replay_episode_and_run_policy(tmpdir, request):
     robot_name = "koch"
     env_name = "koch_real"
     policy_name = "act_koch_real"
 
-    # root = Path(tmpdir)
+    root = Path(tmpdir)
-    root = Path("tmp/data")
     repo_id = "lerobot/debug"
 
     robot = make_robot(robot_name)

tests/test_motors.py

@@ -5,9 +5,11 @@ import pytest
 
 from lerobot.common.robot_devices.motors.dynamixel import DynamixelMotorsBus, find_port
 from lerobot.common.robot_devices.utils import RobotDeviceAlreadyConnectedError, RobotDeviceNotConnectedError
+from tests.utils import require_koch
 
 
-def test_motors_bus():
+@require_koch
+def test_motors_bus(request):
     # TODO(rcadene): measure fps in nightly?
     # TODO(rcadene): test logs
     # TODO(rcadene): test calibration
@@ -83,5 +85,6 @@ def test_motors_bus():
     assert (new_values == values).all()
 
 
-def test_find_port():
+@require_koch
+def test_find_port(request):
     find_port()

tests/test_robots.py

@@ -7,9 +7,11 @@ import torch
 from lerobot.common.robot_devices.robots.factory import make_robot
 from lerobot.common.robot_devices.robots.koch import KochRobot
 from lerobot.common.robot_devices.utils import RobotDeviceAlreadyConnectedError, RobotDeviceNotConnectedError
+from tests.utils import require_koch
 
 
-def test_robot(tmpdir):
+@require_koch
+def test_robot(tmpdir, request):
     # TODO(rcadene): measure fps in nightly?
     # TODO(rcadene): test logs
     # TODO(rcadene): add compatibility with other robots

tests/utils.py

@@ -147,3 +147,22 @@ def require_package(package_name):
         return wrapper
 
     return decorator
+
+
+def require_koch(func):
+    """
+    Decorator that skips the test if an alexander koch robot is not available
+    """
+
+    @wraps(func)
+    def wrapper(*args, **kwargs):
+        # Access the pytest request context to get the is_koch_available fixture
+        request = kwargs.get("request")
+        if request is None:
+            raise ValueError("The 'request' fixture must be passed to the test function as a parameter.")
+
+        if not request.getfixturevalue("is_koch_available"):
+            pytest.skip("An alexander koch robot is not available.")
+        return func(*args, **kwargs)
+
+    return wrapper