diff --git a/tests/mocks/mock_dynamixel.py b/tests/mocks/mock_dynamixel.py
index 21668e17..2f12283c 100644
--- a/tests/mocks/mock_dynamixel.py
+++ b/tests/mocks/mock_dynamixel.py
@@ -1,15 +1,15 @@
 import abc
 import random
-import threading
-import time
 from typing import Callable
 
 import dynamixel_sdk as dxl
 import serial
-from mock_serial.mock_serial import MockSerial, Stub
+from mock_serial.mock_serial import MockSerial
 
 from lerobot.common.motors.dynamixel import X_SERIES_CONTROL_TABLE, DynamixelMotorsBus
 
+from .mock_serial_patch import WaitableStub
+
 # https://emanual.robotis.com/docs/en/dxl/crc/
 DXL_CRC_TABLE = [
     0x0000, 0x8005, 0x800F, 0x000A, 0x801B, 0x001E, 0x0014, 0x8011,
@@ -420,34 +420,6 @@ class MockPortHandler(dxl.PortHandler):
         return True
 
 
-class WaitableStub(Stub):
-    """
-    In some situations, a test might be checking if a stub has been called before `MockSerial` thread had time
-    to read, match, and call the stub. In these situations, the test can fail randomly.
-
-    Use `wait_called()` or `wait_calls()` to block until the stub is called, avoiding race conditions.
-    """
-
-    def __init__(self, **kwargs):
-        super().__init__(**kwargs)
-        self._event = threading.Event()
-
-    def call(self):
-        self._event.set()
-        return super().call()
-
-    def wait_called(self, timeout: float = 1.0):
-        return self._event.wait(timeout)
-
-    def wait_calls(self, min_calls: int = 1, timeout: float = 1.0):
-        start = time.perf_counter()
-        while time.perf_counter() - start < timeout:
-            if self.calls >= min_calls:
-                return self.calls
-            time.sleep(0.005)
-        raise TimeoutError(f"Stub not called {min_calls} times within {timeout} seconds.")
-
-
 class MockMotors(MockSerial):
     """
     This class will simulate physical motors by responding with valid status packets upon receiving some
diff --git a/tests/mocks/mock_feetech.py b/tests/mocks/mock_feetech.py
index f23dd6ee..d685c970 100644
--- a/tests/mocks/mock_feetech.py
+++ b/tests/mocks/mock_feetech.py
@@ -1,15 +1,15 @@
 import abc
 import random
-import threading
-import time
 from typing import Callable
 
 import scservo_sdk as scs
 import serial
-from mock_serial.mock_serial import MockSerial, Stub
+from mock_serial import MockSerial
 
 from lerobot.common.motors.feetech import SCS_SERIES_CONTROL_TABLE, FeetechMotorsBus
 
+from .mock_serial_patch import WaitableStub
+
 # https://files.waveshare.com/upload/2/27/Communication_Protocol_User_Manual-EN%28191218-0923%29.pdf
 INSTRUCTION_TYPES = {
     "Ping": 0x01,	        # Checks whether the Packet has arrived at a device with the same ID as the specified packet ID
@@ -274,34 +274,6 @@ class MockPortHandler(scs.PortHandler):
         return True
 
 
-class WaitableStub(Stub):
-    """
-    In some situations, a test might be checking if a stub has been called before `MockSerial` thread had time
-    to read, match, and call the stub. In these situations, the test can fail randomly.
-
-    Use `wait_called()` or `wait_calls()` to block until the stub is called, avoiding race conditions.
-    """
-
-    def __init__(self, **kwargs):
-        super().__init__(**kwargs)
-        self._event = threading.Event()
-
-    def call(self):
-        self._event.set()
-        return super().call()
-
-    def wait_called(self, timeout: float = 1.0):
-        return self._event.wait(timeout)
-
-    def wait_calls(self, min_calls: int = 1, timeout: float = 1.0):
-        start = time.perf_counter()
-        while time.perf_counter() - start < timeout:
-            if self.calls >= min_calls:
-                return self.calls
-            time.sleep(0.005)
-        raise TimeoutError(f"Stub not called {min_calls} times within {timeout} seconds.")
-
-
 class MockMotors(MockSerial):
     """
     This class will simulate physical motors by responding with valid status packets upon receiving some
diff --git a/tests/mocks/mock_serial_patch.py b/tests/mocks/mock_serial_patch.py
new file mode 100644
index 00000000..e3992318
--- /dev/null
+++ b/tests/mocks/mock_serial_patch.py
@@ -0,0 +1,35 @@
+import threading
+import time
+
+from mock_serial.mock_serial import Stub
+
+
+class WaitableStub(Stub):
+    """
+    In some situations, a test might be checking if a stub has been called before `MockSerial` thread had time
+    to read, match, and call the stub. In these situations, the test can fail randomly.
+
+    Use `wait_called()` or `wait_calls()` to block until the stub is called, avoiding race conditions.
+
+    Proposed fix:
+    https://github.com/benthorner/mock_serial/pull/3
+    """
+
+    def __init__(self, **kwargs):
+        super().__init__(**kwargs)
+        self._event = threading.Event()
+
+    def call(self):
+        self._event.set()
+        return super().call()
+
+    def wait_called(self, timeout: float = 1.0):
+        return self._event.wait(timeout)
+
+    def wait_calls(self, min_calls: int = 1, timeout: float = 1.0):
+        start = time.perf_counter()
+        while time.perf_counter() - start < timeout:
+            if self.calls >= min_calls:
+                return self.calls
+            time.sleep(0.005)
+        raise TimeoutError(f"Stub not called {min_calls} times within {timeout} seconds.")