feat(dependecies): minimal default tag install

tests/artifacts/image_transforms/save_image_transforms_to_safetensors.py

@@ -19,7 +19,7 @@ import torch
 from safetensors.torch import save_file
 
 from lerobot.datasets.lerobot_dataset import LeRobotDataset
-from lerobot.datasets.transforms import (
+from lerobot.transforms import (
     ImageTransformConfig,
     ImageTransforms,
     ImageTransformsConfig,

tests/async_inference/test_policy_server.py

@@ -24,7 +24,7 @@ import torch
 
 from lerobot.configs.types import PolicyFeature
 from lerobot.utils.constants import OBS_STATE
-from tests.utils import require_package
+from tests.utils import skip_if_package_missing
 
 # -----------------------------------------------------------------------------
 # Test fixtures
@@ -62,7 +62,7 @@ class MockPolicy:
 
 
 @pytest.fixture
-@require_package("grpcio", "grpc")
+@skip_if_package_missing("grpcio", "grpc")
 def policy_server():
     """Fresh `PolicyServer` instance with a stubbed-out policy model."""
     # Import only when the test actually runs (after decorator check)

tests/datasets/test_dataset_reader.py

@@ -16,7 +16,7 @@
 """Contract tests for DatasetReader."""
 
 from lerobot.datasets.dataset_reader import DatasetReader
-from lerobot.datasets.video_utils import get_safe_default_codec
+from lerobot.utils.import_utils import get_safe_default_codec
 
 # ── Loading ──────────────────────────────────────────────────────────
 

tests/datasets/test_datasets.py

@@ -35,7 +35,6 @@ from lerobot.datasets.image_writer import image_array_to_pil_image
 from lerobot.datasets.io_utils import hf_transform_to_torch
 from lerobot.datasets.lerobot_dataset import LeRobotDataset
 from lerobot.datasets.multi_dataset import MultiLeRobotDataset
-from lerobot.datasets.transforms import ImageTransforms, ImageTransformsConfig
 from lerobot.datasets.utils import (
     DEFAULT_CHUNK_SIZE,
     DEFAULT_DATA_FILE_SIZE_IN_MB,
@@ -46,6 +45,7 @@ from lerobot.datasets.video_utils import VALID_VIDEO_CODECS
 from lerobot.envs.factory import make_env_config
 from lerobot.policies.factory import make_policy_config
 from lerobot.robots import make_robot_from_config
+from lerobot.transforms import ImageTransforms, ImageTransformsConfig
 from lerobot.utils.constants import ACTION, DONE, OBS_IMAGES, OBS_STATE, OBS_STR, REWARD
 from tests.fixtures.constants import DUMMY_CHW, DUMMY_HWC, DUMMY_REPO_ID
 from tests.mocks.mock_robot import MockRobotConfig

tests/datasets/test_image_transforms.py

@@ -21,7 +21,11 @@ from safetensors.torch import load_file
 from torchvision.transforms import v2
 from torchvision.transforms.v2 import functional as F  # noqa: N812
 
-from lerobot.datasets.transforms import (
+from lerobot.scripts.lerobot_imgtransform_viz import (
+    save_all_transforms,
+    save_each_transform,
+)
+from lerobot.transforms import (
     ImageTransformConfig,
     ImageTransforms,
     ImageTransformsConfig,
@@ -29,10 +33,6 @@ from lerobot.datasets.transforms import (
     SharpnessJitter,
     make_transform_from_config,
 )
-from lerobot.scripts.lerobot_imgtransform_viz import (
-    save_all_transforms,
-    save_each_transform,
-)
 from lerobot.utils.random_utils import seeded_context
 from tests.artifacts.image_transforms.save_image_transforms_to_safetensors import ARTIFACT_DIR
 from tests.utils import require_x86_64_kernel

tests/policies/hilserl/test_modeling_classifier.py

@@ -21,7 +21,7 @@ from lerobot.configs.types import FeatureType, NormalizationMode, PolicyFeature
 from lerobot.policies.sac.reward_model.configuration_classifier import RewardClassifierConfig
 from lerobot.policies.sac.reward_model.modeling_classifier import ClassifierOutput
 from lerobot.utils.constants import OBS_IMAGE, REWARD
-from tests.utils import require_package
+from tests.utils import skip_if_package_missing
 
 
 def test_classifier_output():
@@ -37,7 +37,7 @@ def test_classifier_output():
     )
 
 
-@require_package("transformers")
+@skip_if_package_missing("transformers")
 @pytest.mark.skip(
     reason="helper2424/resnet10 needs to be updated to work with the latest version of transformers"
 )
@@ -81,7 +81,7 @@ def test_binary_classifier_with_default_params():
     assert not torch.isnan(output.hidden_states).any(), "Tensor contains NaN values"
 
 
-@require_package("transformers")
+@skip_if_package_missing("transformers")
 @pytest.mark.skip(
     reason="helper2424/resnet10 needs to be updated to work with the latest version of transformers"
 )
@@ -123,7 +123,7 @@ def test_multiclass_classifier():
     assert not torch.isnan(output.hidden_states).any(), "Tensor contains NaN values"
 
 
-@require_package("transformers")
+@skip_if_package_missing("transformers")
 @pytest.mark.skip(
     reason="helper2424/resnet10 needs to be updated to work with the latest version of transformers"
 )
@@ -138,7 +138,7 @@ def test_default_device():
         assert p.device == torch.device("cpu")
 
 
-@require_package("transformers")
+@skip_if_package_missing("transformers")
 @pytest.mark.skip(
     reason="helper2424/resnet10 needs to be updated to work with the latest version of transformers"
 )

tests/policies/smolvla/test_smolvla_rtc.py

@@ -24,10 +24,10 @@ from lerobot.policies.factory import make_pre_post_processors  # noqa: E402
 from lerobot.policies.rtc.configuration_rtc import RTCConfig  # noqa: E402
 from lerobot.policies.smolvla.configuration_smolvla import SmolVLAConfig  # noqa: F401
 from lerobot.utils.random_utils import set_seed  # noqa: E402
-from tests.utils import require_cuda, require_package  # noqa: E402
+from tests.utils import require_cuda, skip_if_package_missing  # noqa: E402
 
 
-@require_package("transformers")
+@skip_if_package_missing("transformers")
 @require_cuda
 def test_smolvla_rtc_initialization():
     from lerobot.policies.smolvla.modeling_smolvla import SmolVLAPolicy  # noqa: F401
@@ -65,7 +65,7 @@ def test_smolvla_rtc_initialization():
     print("✓ SmolVLA RTC initialization: Test passed")
 
 
-@require_package("transformers")
+@skip_if_package_missing("transformers")
 @require_cuda
 def test_smolvla_rtc_initialization_without_rtc_config():
     from lerobot.policies.smolvla.modeling_smolvla import SmolVLAPolicy  # noqa: F401
@@ -87,7 +87,7 @@ def test_smolvla_rtc_initialization_without_rtc_config():
     print("✓ SmolVLA RTC initialization without RTC config: Test passed")
 
 
-@require_package("transformers")
+@skip_if_package_missing("transformers")
 @require_cuda
 @pytest.mark.skipif(True, reason="Requires pretrained SmolVLA model weights")
 def test_smolvla_rtc_inference_with_prev_chunk():
@@ -170,7 +170,7 @@ def test_smolvla_rtc_inference_with_prev_chunk():
     print("✓ SmolVLA RTC inference with prev_chunk: Test passed")
 
 
-@require_package("transformers")
+@skip_if_package_missing("transformers")
 @require_cuda
 @pytest.mark.skipif(True, reason="Requires pretrained SmolVLA model weights")
 def test_smolvla_rtc_inference_without_prev_chunk():
@@ -244,7 +244,7 @@ def test_smolvla_rtc_inference_without_prev_chunk():
     print("✓ SmolVLA RTC inference without prev_chunk: Test passed")
 
 
-@require_package("transformers")
+@skip_if_package_missing("transformers")
 @require_cuda
 @pytest.mark.skipif(True, reason="Requires pretrained SmolVLA model weights")
 def test_smolvla_rtc_validation_rules():

tests/processor/test_tokenizer_processor.py

@@ -36,7 +36,7 @@ from lerobot.utils.constants import (
     OBS_LANGUAGE_SUBTASK_TOKENS,
     OBS_STATE,
 )
-from tests.utils import require_package
+from tests.utils import skip_if_package_missing
 
 
 class MockTokenizer:
@@ -94,7 +94,7 @@ def mock_tokenizer():
     return MockTokenizer(vocab_size=100)
 
 
-@require_package("transformers")
+@skip_if_package_missing("transformers")
 @patch("lerobot.processor.tokenizer_processor.AutoTokenizer")
 def test_basic_tokenization(mock_auto_tokenizer):
     """Test basic string tokenization functionality."""
@@ -129,7 +129,7 @@ def test_basic_tokenization(mock_auto_tokenizer):
     assert attention_mask.shape == (10,)
 
 
-@require_package("transformers")
+@skip_if_package_missing("transformers")
 def test_basic_tokenization_with_tokenizer_object():
     """Test basic string tokenization functionality using tokenizer object directly."""
     mock_tokenizer = MockTokenizer(vocab_size=100)
@@ -161,7 +161,7 @@ def test_basic_tokenization_with_tokenizer_object():
     assert attention_mask.shape == (10,)
 
 
-@require_package("transformers")
+@skip_if_package_missing("transformers")
 @patch("lerobot.processor.tokenizer_processor.AutoTokenizer")
 def test_list_of_strings_tokenization(mock_auto_tokenizer):
     """Test tokenization of a list of strings."""
@@ -189,7 +189,7 @@ def test_list_of_strings_tokenization(mock_auto_tokenizer):
     assert attention_mask.shape == (2, 8)
 
 
-@require_package("transformers")
+@skip_if_package_missing("transformers")
 @patch("lerobot.processor.tokenizer_processor.AutoTokenizer")
 def test_tuple_of_strings_tokenization(mock_auto_tokenizer):
     """Test tokenization of a tuple of strings (returned by VectorEnv.call())."""
@@ -213,7 +213,7 @@ def test_tuple_of_strings_tokenization(mock_auto_tokenizer):
     assert attention_mask.shape == (2, 8)
 
 
-@require_package("transformers")
+@skip_if_package_missing("transformers")
 @patch("lerobot.processor.tokenizer_processor.AutoTokenizer")
 def test_custom_keys(mock_auto_tokenizer):
     """Test using custom task_key."""
@@ -239,7 +239,7 @@ def test_custom_keys(mock_auto_tokenizer):
     assert tokens.shape == (5,)
 
 
-@require_package("transformers")
+@skip_if_package_missing("transformers")
 @patch("lerobot.processor.tokenizer_processor.AutoTokenizer")
 def test_none_complementary_data(mock_auto_tokenizer):
     """Test handling of None complementary_data."""
@@ -255,7 +255,7 @@ def test_none_complementary_data(mock_auto_tokenizer):
         processor(transition)
 
 
-@require_package("transformers")
+@skip_if_package_missing("transformers")
 @patch("lerobot.processor.tokenizer_processor.AutoTokenizer")
 def test_missing_task_key(mock_auto_tokenizer):
     """Test handling when task key is missing."""
@@ -270,7 +270,7 @@ def test_missing_task_key(mock_auto_tokenizer):
         processor(transition)
 
 
-@require_package("transformers")
+@skip_if_package_missing("transformers")
 @patch("lerobot.processor.tokenizer_processor.AutoTokenizer")
 def test_none_task_value(mock_auto_tokenizer):
     """Test handling when task value is None."""
@@ -285,7 +285,7 @@ def test_none_task_value(mock_auto_tokenizer):
         processor(transition)
 
 
-@require_package("transformers")
+@skip_if_package_missing("transformers")
 @patch("lerobot.processor.tokenizer_processor.AutoTokenizer")
 def test_unsupported_task_type(mock_auto_tokenizer):
     """Test handling of unsupported task types."""
@@ -307,14 +307,14 @@ def test_unsupported_task_type(mock_auto_tokenizer):
         processor(transition)
 
 
-@require_package("transformers")
+@skip_if_package_missing("transformers")
 def test_no_tokenizer_error():
     """Test that ValueError is raised when neither tokenizer nor tokenizer_name is provided."""
     with pytest.raises(ValueError, match="Either 'tokenizer' or 'tokenizer_name' must be provided"):
         TokenizerProcessorStep()
 
 
-@require_package("transformers")
+@skip_if_package_missing("transformers")
 def test_invalid_tokenizer_name_error():
     """Test that error is raised when invalid tokenizer_name is provided."""
     with patch("lerobot.processor.tokenizer_processor.AutoTokenizer") as mock_auto_tokenizer:
@@ -325,7 +325,7 @@ def test_invalid_tokenizer_name_error():
             TokenizerProcessorStep(tokenizer_name="invalid-tokenizer")
 
 
-@require_package("transformers")
+@skip_if_package_missing("transformers")
 @patch("lerobot.processor.tokenizer_processor.AutoTokenizer")
 def test_get_config_with_tokenizer_name(mock_auto_tokenizer):
     """Test configuration serialization when using tokenizer_name."""
@@ -354,7 +354,7 @@ def test_get_config_with_tokenizer_name(mock_auto_tokenizer):
     assert config == expected
 
 
-@require_package("transformers")
+@skip_if_package_missing("transformers")
 def test_get_config_with_tokenizer_object():
     """Test configuration serialization when using tokenizer object."""
     mock_tokenizer = MockTokenizer(vocab_size=100)
@@ -382,7 +382,7 @@ def test_get_config_with_tokenizer_object():
     assert "tokenizer_name" not in config
 
 
-@require_package("transformers")
+@skip_if_package_missing("transformers")
 @patch("lerobot.processor.tokenizer_processor.AutoTokenizer")
 def test_state_dict_methods(mock_auto_tokenizer):
     """Test state_dict and load_state_dict methods."""
@@ -399,7 +399,7 @@ def test_state_dict_methods(mock_auto_tokenizer):
     processor.load_state_dict({})
 
 
-@require_package("transformers")
+@skip_if_package_missing("transformers")
 @patch("lerobot.processor.tokenizer_processor.AutoTokenizer")
 def test_reset_method(mock_auto_tokenizer):
     """Test reset method."""
@@ -412,7 +412,7 @@ def test_reset_method(mock_auto_tokenizer):
     processor.reset()
 
 
-@require_package("transformers")
+@skip_if_package_missing("transformers")
 @patch("lerobot.processor.tokenizer_processor.AutoTokenizer")
 def test_integration_with_robot_processor(mock_auto_tokenizer):
     """Test integration with RobotProcessor."""
@@ -449,7 +449,7 @@ def test_integration_with_robot_processor(mock_auto_tokenizer):
     assert torch.equal(result[TransitionKey.ACTION], transition[TransitionKey.ACTION])
 
 
-@require_package("transformers")
+@skip_if_package_missing("transformers")
 @patch("lerobot.processor.tokenizer_processor.AutoTokenizer")
 def test_save_and_load_pretrained_with_tokenizer_name(mock_auto_tokenizer):
     """Test saving and loading processor with tokenizer_name."""
@@ -489,7 +489,7 @@ def test_save_and_load_pretrained_with_tokenizer_name(mock_auto_tokenizer):
         assert f"{OBS_LANGUAGE}.attention_mask" in result[TransitionKey.OBSERVATION]
 
 
-@require_package("transformers")
+@skip_if_package_missing("transformers")
 def test_save_and_load_pretrained_with_tokenizer_object():
     """Test saving and loading processor with tokenizer object using overrides."""
     mock_tokenizer = MockTokenizer(vocab_size=100)
@@ -528,7 +528,7 @@ def test_save_and_load_pretrained_with_tokenizer_object():
         assert f"{OBS_LANGUAGE}.attention_mask" in result[TransitionKey.OBSERVATION]
 
 
-@require_package("transformers")
+@skip_if_package_missing("transformers")
 def test_registry_functionality():
     """Test that the processor is properly registered."""
     from lerobot.processor import ProcessorStepRegistry
@@ -541,7 +541,7 @@ def test_registry_functionality():
     assert retrieved_class is TokenizerProcessorStep
 
 
-@require_package("transformers")
+@skip_if_package_missing("transformers")
 def test_features_basic():
     """Test basic feature contract functionality."""
     mock_tokenizer = MockTokenizer(vocab_size=100)
@@ -574,7 +574,7 @@ def test_features_basic():
     assert attention_mask_feature.shape == (128,)
 
 
-@require_package("transformers")
+@skip_if_package_missing("transformers")
 def test_features_with_custom_max_length():
     """Test feature contract with custom max_length."""
     mock_tokenizer = MockTokenizer(vocab_size=100)
@@ -596,7 +596,7 @@ def test_features_with_custom_max_length():
     assert attention_mask_feature.shape == (64,)
 
 
-@require_package("transformers")
+@skip_if_package_missing("transformers")
 def test_features_existing_features():
     """Test feature contract when tokenized features already exist."""
     mock_tokenizer = MockTokenizer(vocab_size=100)
@@ -618,7 +618,7 @@ def test_features_existing_features():
     assert output_features[PipelineFeatureType.OBSERVATION][f"{OBS_LANGUAGE}.attention_mask"].shape == (100,)
 
 
-@require_package("transformers")
+@skip_if_package_missing("transformers")
 @patch("lerobot.processor.tokenizer_processor.AutoTokenizer")
 def test_tokenization_parameters(mock_auto_tokenizer):
     """Test that tokenization parameters are correctly passed to tokenizer."""
@@ -666,7 +666,7 @@ def test_tokenization_parameters(mock_auto_tokenizer):
     assert tracking_tokenizer.last_call_kwargs["return_tensors"] == "pt"
 
 
-@require_package("transformers")
+@skip_if_package_missing("transformers")
 @patch("lerobot.processor.tokenizer_processor.AutoTokenizer")
 def test_preserves_other_complementary_data(mock_auto_tokenizer):
     """Test that other complementary data fields are preserved."""
@@ -701,7 +701,7 @@ def test_preserves_other_complementary_data(mock_auto_tokenizer):
     assert f"{OBS_LANGUAGE}.attention_mask" in observation
 
 
-@require_package("transformers")
+@skip_if_package_missing("transformers")
 @patch("lerobot.processor.tokenizer_processor.AutoTokenizer")
 def test_deterministic_tokenization(mock_auto_tokenizer):
     """Test that tokenization is deterministic for the same input."""
@@ -729,7 +729,7 @@ def test_deterministic_tokenization(mock_auto_tokenizer):
     assert torch.equal(attention_mask1, attention_mask2)
 
 
-@require_package("transformers")
+@skip_if_package_missing("transformers")
 @patch("lerobot.processor.tokenizer_processor.AutoTokenizer")
 def test_empty_string_task(mock_auto_tokenizer):
     """Test handling of empty string task."""
@@ -753,7 +753,7 @@ def test_empty_string_task(mock_auto_tokenizer):
     assert tokens.shape == (8,)
 
 
-@require_package("transformers")
+@skip_if_package_missing("transformers")
 @patch("lerobot.processor.tokenizer_processor.AutoTokenizer")
 def test_very_long_task(mock_auto_tokenizer):
     """Test handling of very long task strings."""
@@ -779,7 +779,7 @@ def test_very_long_task(mock_auto_tokenizer):
     assert attention_mask.shape == (5,)
 
 
-@require_package("transformers")
+@skip_if_package_missing("transformers")
 @patch("lerobot.processor.tokenizer_processor.AutoTokenizer")
 def test_custom_padding_side(mock_auto_tokenizer):
     """Test using custom padding_side parameter."""
@@ -833,7 +833,7 @@ def test_custom_padding_side(mock_auto_tokenizer):
     assert tracking_tokenizer.padding_side_calls[-1] == "right"
 
 
-@require_package("transformers")
+@skip_if_package_missing("transformers")
 def test_device_detection_cpu():
     """Test that tokenized tensors stay on CPU when other tensors are on CPU."""
     mock_tokenizer = MockTokenizer(vocab_size=100)
@@ -857,7 +857,7 @@ def test_device_detection_cpu():
 
 
 @pytest.mark.skipif(not torch.cuda.is_available(), reason="CUDA not available")
-@require_package("transformers")
+@skip_if_package_missing("transformers")
 def test_device_detection_cuda():
     """Test that tokenized tensors are moved to CUDA when other tensors are on CUDA."""
     mock_tokenizer = MockTokenizer(vocab_size=100)
@@ -882,7 +882,7 @@ def test_device_detection_cuda():
 
 
 @pytest.mark.skipif(torch.cuda.device_count() < 2, reason="Requires at least 2 GPUs")
-@require_package("transformers")
+@skip_if_package_missing("transformers")
 def test_device_detection_multi_gpu():
     """Test that tokenized tensors match device in multi-GPU setup."""
     mock_tokenizer = MockTokenizer(vocab_size=100)
@@ -906,7 +906,7 @@ def test_device_detection_multi_gpu():
     assert attention_mask.device == device
 
 
-@require_package("transformers")
+@skip_if_package_missing("transformers")
 def test_device_detection_no_tensors():
     """Test that tokenized tensors stay on CPU when no other tensors exist."""
     mock_tokenizer = MockTokenizer(vocab_size=100)
@@ -928,7 +928,7 @@ def test_device_detection_no_tensors():
     assert attention_mask.device.type == "cpu"
 
 
-@require_package("transformers")
+@skip_if_package_missing("transformers")
 def test_device_detection_mixed_devices():
     """Test device detection when tensors are on different devices (uses first found)."""
     mock_tokenizer = MockTokenizer(vocab_size=100)
@@ -956,7 +956,7 @@ def test_device_detection_mixed_devices():
 
 
 @pytest.mark.skipif(not torch.cuda.is_available(), reason="CUDA not available")
-@require_package("transformers")
+@skip_if_package_missing("transformers")
 def test_device_detection_from_action():
     """Test that device is detected from action tensor when no observation tensors exist."""
     mock_tokenizer = MockTokenizer(vocab_size=100)
@@ -979,7 +979,7 @@ def test_device_detection_from_action():
     assert attention_mask.device.type == "cuda"
 
 
-@require_package("transformers")
+@skip_if_package_missing("transformers")
 def test_device_detection_preserves_dtype():
     """Test that device detection doesn't affect dtype of tokenized tensors."""
     mock_tokenizer = MockTokenizer(vocab_size=100)
@@ -1000,7 +1000,7 @@ def test_device_detection_preserves_dtype():
 
 
 @pytest.mark.skipif(not torch.cuda.is_available(), reason="CUDA not available")
-@require_package("transformers")
+@skip_if_package_missing("transformers")
 @patch("lerobot.processor.tokenizer_processor.AutoTokenizer")
 def test_integration_with_device_processor(mock_auto_tokenizer):
     """Test that TokenizerProcessorStep works correctly with DeviceProcessorStep in pipeline."""
@@ -1039,7 +1039,7 @@ def test_integration_with_device_processor(mock_auto_tokenizer):
 
 
 @pytest.mark.skipif(not torch.cuda.is_available(), reason="CUDA not available")
-@require_package("transformers")
+@skip_if_package_missing("transformers")
 def test_simulated_accelerate_scenario():
     """Test scenario simulating Accelerate with data already on GPU."""
     mock_tokenizer = MockTokenizer(vocab_size=100)
@@ -1077,7 +1077,7 @@ def test_simulated_accelerate_scenario():
 # =============================================================================
 
 
-@require_package("transformers")
+@skip_if_package_missing("transformers")
 def test_get_subtask_missing_key():
     """Test get_subtask returns None when subtask key is missing from complementary_data."""
     mock_tokenizer = MockTokenizer(vocab_size=100)
@@ -1093,7 +1093,7 @@ def test_get_subtask_missing_key():
     assert result is None
 
 
-@require_package("transformers")
+@skip_if_package_missing("transformers")
 def test_get_subtask_none_value():
     """Test get_subtask returns None when subtask value is None."""
     mock_tokenizer = MockTokenizer(vocab_size=100)
@@ -1109,7 +1109,7 @@ def test_get_subtask_none_value():
     assert result is None
 
 
-@require_package("transformers")
+@skip_if_package_missing("transformers")
 def test_get_subtask_none_complementary_data():
     """Test get_subtask returns None when complementary_data is None."""
     mock_tokenizer = MockTokenizer(vocab_size=100)
@@ -1125,7 +1125,7 @@ def test_get_subtask_none_complementary_data():
     assert result is None
 
 
-@require_package("transformers")
+@skip_if_package_missing("transformers")
 def test_get_subtask_string():
     """Test get_subtask returns list with single string when subtask is a string."""
     mock_tokenizer = MockTokenizer(vocab_size=100)
@@ -1143,7 +1143,7 @@ def test_get_subtask_string():
     assert len(result) == 1
 
 
-@require_package("transformers")
+@skip_if_package_missing("transformers")
 def test_get_subtask_list_of_strings():
     """Test get_subtask returns the list when subtask is already a list of strings."""
     mock_tokenizer = MockTokenizer(vocab_size=100)
@@ -1162,7 +1162,7 @@ def test_get_subtask_list_of_strings():
     assert len(result) == 3
 
 
-@require_package("transformers")
+@skip_if_package_missing("transformers")
 def test_get_subtask_unsupported_type_integer():
     """Test get_subtask returns None when subtask is an unsupported type (integer)."""
     mock_tokenizer = MockTokenizer(vocab_size=100)
@@ -1178,7 +1178,7 @@ def test_get_subtask_unsupported_type_integer():
     assert result is None
 
 
-@require_package("transformers")
+@skip_if_package_missing("transformers")
 def test_get_subtask_unsupported_type_mixed_list():
     """Test get_subtask returns None when subtask is a list with mixed types."""
     mock_tokenizer = MockTokenizer(vocab_size=100)
@@ -1194,7 +1194,7 @@ def test_get_subtask_unsupported_type_mixed_list():
     assert result is None
 
 
-@require_package("transformers")
+@skip_if_package_missing("transformers")
 def test_get_subtask_unsupported_type_dict():
     """Test get_subtask returns None when subtask is a dictionary."""
     mock_tokenizer = MockTokenizer(vocab_size=100)
@@ -1210,7 +1210,7 @@ def test_get_subtask_unsupported_type_dict():
     assert result is None
 
 
-@require_package("transformers")
+@skip_if_package_missing("transformers")
 def test_get_subtask_empty_string():
     """Test get_subtask with empty string returns list with empty string."""
     mock_tokenizer = MockTokenizer(vocab_size=100)
@@ -1226,7 +1226,7 @@ def test_get_subtask_empty_string():
     assert result == [""]
 
 
-@require_package("transformers")
+@skip_if_package_missing("transformers")
 def test_get_subtask_empty_list():
     """Test get_subtask with empty list returns empty list."""
     mock_tokenizer = MockTokenizer(vocab_size=100)
@@ -1247,7 +1247,7 @@ def test_get_subtask_empty_list():
 # =============================================================================
 
 
-@require_package("transformers")
+@skip_if_package_missing("transformers")
 def test_subtask_tokenization_when_present():
     """Test that subtask is tokenized and added to observation when present."""
     mock_tokenizer = MockTokenizer(vocab_size=100)
@@ -1276,7 +1276,7 @@ def test_subtask_tokenization_when_present():
     assert subtask_attention_mask.dtype == torch.bool
 
 
-@require_package("transformers")
+@skip_if_package_missing("transformers")
 def test_subtask_tokenization_not_added_when_none():
     """Test that subtask tokens are NOT added to observation when subtask is None."""
     mock_tokenizer = MockTokenizer(vocab_size=100)
@@ -1300,7 +1300,7 @@ def test_subtask_tokenization_not_added_when_none():
     assert f"{OBS_LANGUAGE}.attention_mask" in observation
 
 
-@require_package("transformers")
+@skip_if_package_missing("transformers")
 def test_subtask_tokenization_not_added_when_subtask_value_is_none():
     """Test that subtask tokens are NOT added when subtask value is explicitly None."""
     mock_tokenizer = MockTokenizer(vocab_size=100)
@@ -1320,7 +1320,7 @@ def test_subtask_tokenization_not_added_when_subtask_value_is_none():
     assert OBS_LANGUAGE_SUBTASK_ATTENTION_MASK not in observation
 
 
-@require_package("transformers")
+@skip_if_package_missing("transformers")
 def test_subtask_tokenization_list_of_strings():
     """Test subtask tokenization with list of strings."""
     mock_tokenizer = MockTokenizer(vocab_size=100)
@@ -1346,7 +1346,7 @@ def test_subtask_tokenization_list_of_strings():
     assert subtask_attention_mask.shape == (2, 8)
 
 
-@require_package("transformers")
+@skip_if_package_missing("transformers")
 def test_subtask_tokenization_device_cpu():
     """Test that subtask tokens are on CPU when other tensors are on CPU."""
     mock_tokenizer = MockTokenizer(vocab_size=100)
@@ -1372,7 +1372,7 @@ def test_subtask_tokenization_device_cpu():
 
 
 @pytest.mark.skipif(not torch.cuda.is_available(), reason="CUDA not available")
-@require_package("transformers")
+@skip_if_package_missing("transformers")
 def test_subtask_tokenization_device_cuda():
     """Test that subtask tokens are moved to CUDA when other tensors are on CUDA."""
     mock_tokenizer = MockTokenizer(vocab_size=100)
@@ -1397,7 +1397,7 @@ def test_subtask_tokenization_device_cuda():
     assert subtask_attention_mask.device.type == "cuda"
 
 
-@require_package("transformers")
+@skip_if_package_missing("transformers")
 def test_subtask_tokenization_preserves_other_observation_data():
     """Test that subtask tokenization preserves other observation data."""
     mock_tokenizer = MockTokenizer(vocab_size=100)
@@ -1423,7 +1423,7 @@ def test_subtask_tokenization_preserves_other_observation_data():
     assert OBS_LANGUAGE_SUBTASK_ATTENTION_MASK in observation
 
 
-@require_package("transformers")
+@skip_if_package_missing("transformers")
 def test_subtask_attention_mask_dtype():
     """Test that subtask attention mask has correct dtype (bool)."""
     mock_tokenizer = MockTokenizer(vocab_size=100)
@@ -1442,7 +1442,7 @@ def test_subtask_attention_mask_dtype():
     assert subtask_attention_mask.dtype == torch.bool
 
 
-@require_package("transformers")
+@skip_if_package_missing("transformers")
 def test_subtask_tokenization_deterministic():
     """Test that subtask tokenization is deterministic for the same input."""
     mock_tokenizer = MockTokenizer(vocab_size=100)
@@ -1467,7 +1467,7 @@ def test_subtask_tokenization_deterministic():
     assert torch.equal(subtask_mask1, subtask_mask2)
 
 
-@require_package("transformers")
+@skip_if_package_missing("transformers")
 @patch("lerobot.processor.tokenizer_processor.AutoTokenizer")
 def test_subtask_tokenization_integration_with_pipeline(mock_auto_tokenizer):
     """Test subtask tokenization works correctly with DataProcessorPipeline."""
@@ -1504,7 +1504,7 @@ def test_subtask_tokenization_integration_with_pipeline(mock_auto_tokenizer):
     assert observation[OBS_LANGUAGE_SUBTASK_TOKENS].shape == (6,)
 
 
-@require_package("transformers")
+@skip_if_package_missing("transformers")
 def test_subtask_not_added_for_unsupported_types():
     """Test that subtask tokens are not added when subtask has unsupported type."""
     mock_tokenizer = MockTokenizer(vocab_size=100)

tests/rl/test_actor.py

@@ -23,7 +23,7 @@ from torch.multiprocessing import Event, Queue
 
 from lerobot.utils.constants import OBS_STR
 from lerobot.utils.transition import Transition
-from tests.utils import require_package
+from tests.utils import skip_if_package_missing
 
 
 def create_learner_service_stub():
@@ -64,7 +64,7 @@ def close_service_stub(channel, server):
     server.stop(None)
 
 
-@require_package("grpcio", "grpc")
+@skip_if_package_missing("grpcio", "grpc")
 def test_establish_learner_connection_success():
     from lerobot.rl.actor import establish_learner_connection
 
@@ -81,7 +81,7 @@ def test_establish_learner_connection_success():
     close_service_stub(channel, server)
 
 
-@require_package("grpcio", "grpc")
+@skip_if_package_missing("grpcio", "grpc")
 def test_establish_learner_connection_failure():
     from lerobot.rl.actor import establish_learner_connection
 
@@ -100,7 +100,7 @@ def test_establish_learner_connection_failure():
     close_service_stub(channel, server)
 
 
-@require_package("grpcio", "grpc")
+@skip_if_package_missing("grpcio", "grpc")
 def test_push_transitions_to_transport_queue():
     from lerobot.rl.actor import push_transitions_to_transport_queue
     from lerobot.transport.utils import bytes_to_transitions
@@ -135,7 +135,7 @@ def test_push_transitions_to_transport_queue():
         assert_transitions_equal(deserialized_transition, transitions[i])
 
 
-@require_package("grpcio", "grpc")
+@skip_if_package_missing("grpcio", "grpc")
 @pytest.mark.timeout(3)  # force cross-platform watchdog
 def test_transitions_stream():
     from lerobot.rl.actor import transitions_stream
@@ -167,7 +167,7 @@ def test_transitions_stream():
     assert streamed_data[2].data == b"transition_data_3"
 
 
-@require_package("grpcio", "grpc")
+@skip_if_package_missing("grpcio", "grpc")
 @pytest.mark.timeout(3)  # force cross-platform watchdog
 def test_interactions_stream():
     from lerobot.rl.actor import interactions_stream

tests/rl/test_actor_learner.py

@@ -26,7 +26,7 @@ from lerobot.configs.train import TrainRLServerPipelineConfig
 from lerobot.policies.sac.configuration_sac import SACConfig
 from lerobot.utils.constants import OBS_STR
 from lerobot.utils.transition import Transition
-from tests.utils import require_package
+from tests.utils import skip_if_package_missing
 
 
 def create_test_transitions(count: int = 3) -> list[Transition]:
@@ -88,7 +88,7 @@ def cfg():
     return cfg
 
 
-@require_package("grpcio", "grpc")
+@skip_if_package_missing("grpcio", "grpc")
 @pytest.mark.timeout(10)  # force cross-platform watchdog
 def test_end_to_end_transitions_flow(cfg):
     from lerobot.rl.actor import (
@@ -150,7 +150,7 @@ def test_end_to_end_transitions_flow(cfg):
         assert_transitions_equal(transition, input_transitions[i])
 
 
-@require_package("grpcio", "grpc")
+@skip_if_package_missing("grpcio", "grpc")
 @pytest.mark.timeout(10)
 def test_end_to_end_interactions_flow(cfg):
     from lerobot.rl.actor import (
@@ -223,7 +223,7 @@ def test_end_to_end_interactions_flow(cfg):
         assert received == expected
 
 
-@require_package("grpcio", "grpc")
+@skip_if_package_missing("grpcio", "grpc")
 @pytest.mark.parametrize("data_size", ["small", "large"])
 @pytest.mark.timeout(10)
 def test_end_to_end_parameters_flow(cfg, data_size):

tests/rl/test_learner_service.py

@@ -20,7 +20,7 @@ from multiprocessing import Event, Queue
 
 import pytest
 
-from tests.utils import require_package  # our gRPC servicer class
+from tests.utils import skip_if_package_missing  # our gRPC servicer class
 
 
 @pytest.fixture(scope="function")
@@ -39,7 +39,7 @@ def learner_service_stub():
     close_learner_service_stub(channel, server)
 
 
-@require_package("grpcio", "grpc")
+@skip_if_package_missing("grpcio", "grpc")
 def create_learner_service_stub(
     shutdown_event: Event,
     parameters_queue: Queue,
@@ -75,7 +75,7 @@ def create_learner_service_stub(
     return services_pb2_grpc.LearnerServiceStub(channel), channel, server
 
 
-@require_package("grpcio", "grpc")
+@skip_if_package_missing("grpcio", "grpc")
 def close_learner_service_stub(channel, server):
     channel.close()
     server.stop(None)
@@ -91,7 +91,7 @@ def test_ready_method(learner_service_stub):
     assert response == services_pb2.Empty()
 
 
-@require_package("grpcio", "grpc")
+@skip_if_package_missing("grpcio", "grpc")
 @pytest.mark.timeout(3)  # force cross-platform watchdog
 def test_send_interactions():
     from lerobot.transport import services_pb2
@@ -135,7 +135,7 @@ def test_send_interactions():
     assert interactions == [b"123", b"4", b"5", b"678"]
 
 
-@require_package("grpcio", "grpc")
+@skip_if_package_missing("grpcio", "grpc")
 @pytest.mark.timeout(3)  # force cross-platform watchdog
 def test_send_transitions():
     from lerobot.transport import services_pb2
@@ -181,7 +181,7 @@ def test_send_transitions():
     assert transitions == [b"transition_1transition_2transition_3", b"batch_1batch_2"]
 
 
-@require_package("grpcio", "grpc")
+@skip_if_package_missing("grpcio", "grpc")
 @pytest.mark.timeout(3)  # force cross-platform watchdog
 def test_send_transitions_empty_stream():
     from lerobot.transport import services_pb2
@@ -209,7 +209,7 @@ def test_send_transitions_empty_stream():
     assert transitions_queue.empty()
 
 
-@require_package("grpcio", "grpc")
+@skip_if_package_missing("grpcio", "grpc")
 @pytest.mark.timeout(10)  # force cross-platform watchdog
 def test_stream_parameters():
     import time
@@ -267,7 +267,7 @@ def test_stream_parameters():
     assert time_diff == pytest.approx(seconds_between_pushes, abs=0.1)
 
 
-@require_package("grpcio", "grpc")
+@skip_if_package_missing("grpcio", "grpc")
 @pytest.mark.timeout(3)  # force cross-platform watchdog
 def test_stream_parameters_with_shutdown():
     from lerobot.transport import services_pb2
@@ -319,7 +319,7 @@ def test_stream_parameters_with_shutdown():
     assert received_params == [b"param_batch_1", b"stop"]
 
 
-@require_package("grpcio", "grpc")
+@skip_if_package_missing("grpcio", "grpc")
 @pytest.mark.timeout(3)  # force cross-platform watchdog
 def test_stream_parameters_waits_and_retries_on_empty_queue():
     import threading

tests/test_cli_peft.py

@@ -5,7 +5,7 @@ from unittest.mock import MagicMock, patch
 import pytest
 from safetensors.torch import load_file
 
-from .utils import require_package
+from .utils import skip_if_package_missing
 
 # Skip this entire module in CI
 pytestmark = pytest.mark.skipif(
@@ -37,7 +37,7 @@ def resolve_model_id_for_peft_training(policy_type):
 
 
 @pytest.mark.parametrize("policy_type", ["smolvla"])
-@require_package("peft")
+@skip_if_package_missing("peft")
 def test_peft_training_push_to_hub_works(policy_type, tmp_path):
     """Ensure that push to hub stores PEFT only the adapter, not the full model weights."""
     output_dir = tmp_path / f"output_{policy_type}"
@@ -76,7 +76,7 @@ def test_peft_training_push_to_hub_works(policy_type, tmp_path):
 
 
 @pytest.mark.parametrize("policy_type", ["smolvla"])
-@require_package("peft")
+@skip_if_package_missing("peft")
 def test_peft_training_works(policy_type, tmp_path):
     """Check whether the standard case of fine-tuning a (partially) pre-trained policy with PEFT works."""
     output_dir = tmp_path / f"output_{policy_type}"
@@ -125,7 +125,7 @@ def test_peft_training_works(policy_type, tmp_path):
 
 
 @pytest.mark.parametrize("policy_type", ["smolvla"])
-@require_package("peft")
+@skip_if_package_missing("peft")
 def test_peft_training_params_are_fewer(policy_type, tmp_path):
     """Check whether the standard case of fine-tuning a (partially) pre-trained policy with PEFT works."""
     output_dir = tmp_path / f"output_{policy_type}"
@@ -176,7 +176,7 @@ def dummy_make_robot_from_config(*args, **kwargs):
 
 
 @pytest.mark.parametrize("policy_type", ["smolvla"])
-@require_package("peft")
+@skip_if_package_missing("peft")
 def test_peft_record_loads_policy(policy_type, tmp_path):
     """Train a policy with PEFT and attempt to load it with `lerobot-record`."""
     from peft import PeftModel

tests/transport/test_transport_utils.py

@@ -23,10 +23,10 @@ import torch
 
 from lerobot.utils.constants import ACTION
 from lerobot.utils.transition import Transition
-from tests.utils import require_cuda, require_package
+from tests.utils import require_cuda, skip_if_package_missing
 
 
-@require_package("grpcio", "grpc")
+@skip_if_package_missing("grpcio", "grpc")
 def test_bytes_buffer_size_empty_buffer():
     from lerobot.transport.utils import bytes_buffer_size
 
@@ -37,7 +37,7 @@ def test_bytes_buffer_size_empty_buffer():
     assert buffer.tell() == 0
 
 
-@require_package("grpcio", "grpc")
+@skip_if_package_missing("grpcio", "grpc")
 def test_bytes_buffer_size_small_buffer():
     from lerobot.transport.utils import bytes_buffer_size
 
@@ -47,7 +47,7 @@ def test_bytes_buffer_size_small_buffer():
     assert buffer.tell() == 0
 
 
-@require_package("grpcio", "grpc")
+@skip_if_package_missing("grpcio", "grpc")
 def test_bytes_buffer_size_large_buffer():
     from lerobot.transport.utils import CHUNK_SIZE, bytes_buffer_size
 
@@ -58,7 +58,7 @@ def test_bytes_buffer_size_large_buffer():
     assert buffer.tell() == 0
 
 
-@require_package("grpcio", "grpc")
+@skip_if_package_missing("grpcio", "grpc")
 def test_send_bytes_in_chunks_empty_data():
     from lerobot.transport.utils import send_bytes_in_chunks, services_pb2
 
@@ -68,7 +68,7 @@ def test_send_bytes_in_chunks_empty_data():
     assert len(chunks) == 0
 
 
-@require_package("grpcio", "grpc")
+@skip_if_package_missing("grpcio", "grpc")
 def test_single_chunk_small_data():
     from lerobot.transport.utils import send_bytes_in_chunks, services_pb2
 
@@ -82,7 +82,7 @@ def test_single_chunk_small_data():
     assert chunks[0].transfer_state == services_pb2.TransferState.TRANSFER_END
 
 
-@require_package("grpcio", "grpc")
+@skip_if_package_missing("grpcio", "grpc")
 def test_not_silent_mode():
     from lerobot.transport.utils import send_bytes_in_chunks, services_pb2
 
@@ -94,7 +94,7 @@ def test_not_silent_mode():
     assert chunks[0].data == b"Some data"
 
 
-@require_package("grpcio", "grpc")
+@skip_if_package_missing("grpcio", "grpc")
 def test_send_bytes_in_chunks_large_data():
     from lerobot.transport.utils import CHUNK_SIZE, send_bytes_in_chunks, services_pb2
 
@@ -111,7 +111,7 @@ def test_send_bytes_in_chunks_large_data():
     assert chunks[2].transfer_state == services_pb2.TransferState.TRANSFER_END
 
 
-@require_package("grpcio", "grpc")
+@skip_if_package_missing("grpcio", "grpc")
 def test_send_bytes_in_chunks_large_data_with_exact_chunk_size():
     from lerobot.transport.utils import CHUNK_SIZE, send_bytes_in_chunks, services_pb2
 
@@ -124,7 +124,7 @@ def test_send_bytes_in_chunks_large_data_with_exact_chunk_size():
     assert chunks[0].transfer_state == services_pb2.TransferState.TRANSFER_END
 
 
-@require_package("grpcio", "grpc")
+@skip_if_package_missing("grpcio", "grpc")
 def test_receive_bytes_in_chunks_empty_data():
     from lerobot.transport.utils import receive_bytes_in_chunks
 
@@ -138,7 +138,7 @@ def test_receive_bytes_in_chunks_empty_data():
     assert queue.empty()
 
 
-@require_package("grpcio", "grpc")
+@skip_if_package_missing("grpcio", "grpc")
 def test_receive_bytes_in_chunks_single_chunk():
     from lerobot.transport.utils import receive_bytes_in_chunks, services_pb2
 
@@ -157,7 +157,7 @@ def test_receive_bytes_in_chunks_single_chunk():
     assert queue.empty()
 
 
-@require_package("grpcio", "grpc")
+@skip_if_package_missing("grpcio", "grpc")
 def test_receive_bytes_in_chunks_single_not_end_chunk():
     from lerobot.transport.utils import receive_bytes_in_chunks, services_pb2
 
@@ -175,7 +175,7 @@ def test_receive_bytes_in_chunks_single_not_end_chunk():
     assert queue.empty()
 
 
-@require_package("grpcio", "grpc")
+@skip_if_package_missing("grpcio", "grpc")
 def test_receive_bytes_in_chunks_multiple_chunks():
     from lerobot.transport.utils import receive_bytes_in_chunks, services_pb2
 
@@ -199,7 +199,7 @@ def test_receive_bytes_in_chunks_multiple_chunks():
     assert queue.empty()
 
 
-@require_package("grpcio", "grpc")
+@skip_if_package_missing("grpcio", "grpc")
 def test_receive_bytes_in_chunks_multiple_messages():
     from lerobot.transport.utils import receive_bytes_in_chunks, services_pb2
 
@@ -235,7 +235,7 @@ def test_receive_bytes_in_chunks_multiple_messages():
     assert queue.empty()
 
 
-@require_package("grpcio", "grpc")
+@skip_if_package_missing("grpcio", "grpc")
 def test_receive_bytes_in_chunks_shutdown_during_receive():
     from lerobot.transport.utils import receive_bytes_in_chunks, services_pb2
 
@@ -259,7 +259,7 @@ def test_receive_bytes_in_chunks_shutdown_during_receive():
     assert queue.empty()
 
 
-@require_package("grpcio", "grpc")
+@skip_if_package_missing("grpcio", "grpc")
 def test_receive_bytes_in_chunks_only_begin_chunk():
     from lerobot.transport.utils import receive_bytes_in_chunks, services_pb2
 
@@ -279,7 +279,7 @@ def test_receive_bytes_in_chunks_only_begin_chunk():
     assert queue.empty()
 
 
-@require_package("grpcio", "grpc")
+@skip_if_package_missing("grpcio", "grpc")
 def test_receive_bytes_in_chunks_missing_begin():
     from lerobot.transport.utils import receive_bytes_in_chunks, services_pb2
 
@@ -303,7 +303,7 @@ def test_receive_bytes_in_chunks_missing_begin():
 
 
 # Tests for state_to_bytes and bytes_to_state_dict
-@require_package("grpcio", "grpc")
+@skip_if_package_missing("grpcio", "grpc")
 def test_state_to_bytes_empty_dict():
     from lerobot.transport.utils import bytes_to_state_dict, state_to_bytes
 
@@ -314,7 +314,7 @@ def test_state_to_bytes_empty_dict():
     assert reconstructed == state_dict
 
 
-@require_package("grpcio", "grpc")
+@skip_if_package_missing("grpcio", "grpc")
 def test_bytes_to_state_dict_empty_data():
     from lerobot.transport.utils import bytes_to_state_dict
 
@@ -323,7 +323,7 @@ def test_bytes_to_state_dict_empty_data():
         bytes_to_state_dict(b"")
 
 
-@require_package("grpcio", "grpc")
+@skip_if_package_missing("grpcio", "grpc")
 def test_state_to_bytes_simple_dict():
     from lerobot.transport.utils import bytes_to_state_dict, state_to_bytes
 
@@ -347,7 +347,7 @@ def test_state_to_bytes_simple_dict():
         assert torch.allclose(state_dict[key], reconstructed[key])
 
 
-@require_package("grpcio", "grpc")
+@skip_if_package_missing("grpcio", "grpc")
 def test_state_to_bytes_various_dtypes():
     from lerobot.transport.utils import bytes_to_state_dict, state_to_bytes
 
@@ -372,7 +372,7 @@ def test_state_to_bytes_various_dtypes():
             assert torch.allclose(state_dict[key], reconstructed[key])
 
 
-@require_package("grpcio", "grpc")
+@skip_if_package_missing("grpcio", "grpc")
 def test_bytes_to_state_dict_invalid_data():
     from lerobot.transport.utils import bytes_to_state_dict
 
@@ -382,7 +382,7 @@ def test_bytes_to_state_dict_invalid_data():
 
 
 @require_cuda
-@require_package("grpcio", "grpc")
+@skip_if_package_missing("grpcio", "grpc")
 def test_state_to_bytes_various_dtypes_cuda():
     from lerobot.transport.utils import bytes_to_state_dict, state_to_bytes
 
@@ -407,7 +407,7 @@ def test_state_to_bytes_various_dtypes_cuda():
             assert torch.allclose(state_dict[key], reconstructed[key])
 
 
-@require_package("grpcio", "grpc")
+@skip_if_package_missing("grpcio", "grpc")
 def test_python_object_to_bytes_none():
     from lerobot.transport.utils import bytes_to_python_object, python_object_to_bytes
 
@@ -439,7 +439,7 @@ def test_python_object_to_bytes_none():
         (1, 2, 3),
     ],
 )
-@require_package("grpcio", "grpc")
+@skip_if_package_missing("grpcio", "grpc")
 def test_python_object_to_bytes_simple_types(obj):
     from lerobot.transport.utils import bytes_to_python_object, python_object_to_bytes
 
@@ -450,7 +450,7 @@ def test_python_object_to_bytes_simple_types(obj):
     assert type(reconstructed) is type(obj)
 
 
-@require_package("grpcio", "grpc")
+@skip_if_package_missing("grpcio", "grpc")
 def test_python_object_to_bytes_with_tensors():
     from lerobot.transport.utils import bytes_to_python_object, python_object_to_bytes
 
@@ -475,7 +475,7 @@ def test_python_object_to_bytes_with_tensors():
     assert torch.equal(obj["nested"]["tensor2"], reconstructed["nested"]["tensor2"])
 
 
-@require_package("grpcio", "grpc")
+@skip_if_package_missing("grpcio", "grpc")
 def test_transitions_to_bytes_empty_list():
     from lerobot.transport.utils import bytes_to_transitions, transitions_to_bytes
 
@@ -487,7 +487,7 @@ def test_transitions_to_bytes_empty_list():
     assert isinstance(reconstructed, list)
 
 
-@require_package("grpcio", "grpc")
+@skip_if_package_missing("grpcio", "grpc")
 def test_transitions_to_bytes_single_transition():
     from lerobot.transport.utils import bytes_to_transitions, transitions_to_bytes
 
@@ -509,7 +509,7 @@ def test_transitions_to_bytes_single_transition():
     assert_transitions_equal(transitions[0], reconstructed[0])
 
 
-@require_package("grpcio", "grpc")
+@skip_if_package_missing("grpcio", "grpc")
 def assert_transitions_equal(t1: Transition, t2: Transition):
     """Helper to assert two transitions are equal."""
     assert_observation_equal(t1["state"], t2["state"])
@@ -519,7 +519,7 @@ def assert_transitions_equal(t1: Transition, t2: Transition):
     assert_observation_equal(t1["next_state"], t2["next_state"])
 
 
-@require_package("grpcio", "grpc")
+@skip_if_package_missing("grpcio", "grpc")
 def assert_observation_equal(o1: dict, o2: dict):
     """Helper to assert two observations are equal."""
     assert set(o1.keys()) == set(o2.keys())
@@ -527,7 +527,7 @@ def assert_observation_equal(o1: dict, o2: dict):
         assert torch.allclose(o1[key], o2[key])
 
 
-@require_package("grpcio", "grpc")
+@skip_if_package_missing("grpcio", "grpc")
 def test_transitions_to_bytes_multiple_transitions():
     from lerobot.transport.utils import bytes_to_transitions, transitions_to_bytes
 
@@ -551,7 +551,7 @@ def test_transitions_to_bytes_multiple_transitions():
         assert_transitions_equal(original, reconstructed_item)
 
 
-@require_package("grpcio", "grpc")
+@skip_if_package_missing("grpcio", "grpc")
 def test_receive_bytes_in_chunks_unknown_state():
     from lerobot.transport.utils import receive_bytes_in_chunks
 

tests/utils.py

@@ -152,7 +152,7 @@ def require_env(func):
     return wrapper
 
 
-def require_package_arg(func):
+def skip_if_package_arg_missing(func):
     """
     Decorator that skips the test if the required package is not installed.
     This is similar to `require_env` but more general in that it can check any package (not just environments).
@@ -184,7 +184,7 @@ def require_package_arg(func):
     return wrapper
 
 
-def require_package(package_name, import_name=None):
+def skip_if_package_missing(package_name, import_name=None):
     """
     Decorator that skips the test if the specified package is not installed.
     """

tests/utils/test_visualization_utils.py

@@ -48,6 +48,9 @@ def mock_rerun(monkeypatch):
         calls.append((key, obj, kwargs))
 
     dummy_rr = SimpleNamespace(
+        __name__="rerun",
+        __package__="rerun",
+        __spec__=SimpleNamespace(name="rerun", submodule_search_locations=None),
         Scalars=DummyScalar,
         Image=DummyImage,
         log=dummy_log,