lerobot/tests/utils.py

import pytest
import torch

from lerobot.common.utils.import_utils import is_package_available

# Pass this as the first argument to init_hydra_config.
DEFAULT_CONFIG_PATH = "lerobot/configs/default.yaml"

DEVICE = "cuda" if torch.cuda.is_available() else "cpu"


def require_env(func):
    """
    Decorator that skips the test if the required environment package is not installed.
    As it need 'env_name' in args, it also checks whether it is provided as an argument.
    """
    from functools import wraps

    @wraps(func)
    def wrapper(*args, **kwargs):
        # Determine if 'env_name' is provided and extract its value
        arg_names = func.__code__.co_varnames[: func.__code__.co_argcount]
        if "env_name" in arg_names:
            # Get the index of 'env_name' and retrieve the value from args
            index = arg_names.index("env_name")
            env_name = args[index] if len(args) > index else kwargs.get("env_name")
        else:
            raise ValueError("Function does not have 'env_name' as an argument.")

        # Perform the package check
        package_name = f"gym_{env_name}"
        if not is_package_available(package_name):
            pytest.skip(f"gym-{env_name} not installed")

        return func(*args, **kwargs)

    return wrapper