WIP: importor skip

.github/workflows/ci.yml

@@ -281,13 +281,13 @@ jobs:
       - name: Install dependencies
         run: uv sync --group tests --frozen
       - name: Run tests
-        run: uv run pytest --numprocesses=3 --cov=dimos/ --junitxml=junit.xml -m 'not (tool or self_hosted or mujoco or self_hosted_large)'
+        run: uv run pytest --ignore=dimos/mapping/ray_tracing --ignore=dimos/navigation/nav_3d/mls_planner --numprocesses=3 --cov=dimos/ --junitxml=junit.xml -m 'not (tool or self_hosted or mujoco or self_hosted_large)'
       - name: Re-run the failing tests with maximum verbosity
         if: failure()
         env:
           COLOR: yes
         run: >-  # `exit 1` makes sure that the job remains red with flaky runs
-          uv run pytest --no-cov -vvvvv --lf  -m 'not (tool or self_hosted or mujoco or self_hosted_large)' && exit 1
+          uv run pytest --ignore=dimos/mapping/ray_tracing --ignore=dimos/navigation/nav_3d/mls_planner --no-cov -vvvvv --lf  -m 'not (tool or self_hosted or mujoco or self_hosted_large)' && exit 1
         shell: bash
       - name: Turn coverage into xml
         run: uv run python -m coverage xml
@@ -397,13 +397,13 @@ jobs:
             echo "ROS_PYTHON_VERSION=$ROS_PYTHON_VERSION"
           } >> "$GITHUB_ENV"
       - name: Run tests
-        run: uv run pytest --cov=dimos/ --junitxml=junit.xml -m '(${{ matrix.markers }}) and not (tool or mujoco)'
+        run: uv run pytest --ignore=dimos/mapping/ray_tracing --ignore=dimos/navigation/nav_3d/mls_planner --cov=dimos/ --junitxml=junit.xml -m '(${{ matrix.markers }}) and not (tool or mujoco)'
       - name: Re-run the failing tests with maximum verbosity
         if: failure()
         env:
           COLOR: yes
         run: >-  # `exit 1` makes sure that the job remains red with flaky runs
-          uv run pytest --no-cov -vvvvv --lf  -m '(${{ matrix.markers }}) and not (tool or mujoco)' && exit 1
+          uv run pytest --ignore=dimos/mapping/ray_tracing --ignore=dimos/navigation/nav_3d/mls_planner --no-cov -vvvvv --lf  -m '(${{ matrix.markers }}) and not (tool or mujoco)' && exit 1
         shell: bash
       - name: Turn coverage into xml
         run: uv run python -m coverage xml
@@ -499,14 +499,14 @@ jobs:
         # heavier scenes (`apt`). Software X via xvfb is not enough.
         env:
           DISPLAY: ":0"
-        run: uv run pytest --cov=dimos/ --junitxml=junit.xml -m self_hosted_large
+        run: uv run pytest --ignore=dimos/mapping/ray_tracing --ignore=dimos/navigation/nav_3d/mls_planner --cov=dimos/ --junitxml=junit.xml -m self_hosted_large
       - name: Re-run the failing tests with maximum verbosity
         if: failure()
         env:
           COLOR: yes
           DISPLAY: ":0"
         run: >-  # `exit 1` makes sure that the job remains red with flaky runs
-          uv run pytest --no-cov -vvvvv --lf -m self_hosted_large && exit 1
+          uv run pytest --ignore=dimos/mapping/ray_tracing --ignore=dimos/navigation/nav_3d/mls_planner --no-cov -vvvvv --lf -m self_hosted_large && exit 1
         shell: bash
       - name: Turn coverage into xml
         run: uv run python -m coverage xml

dimos/codebase_checks/test_no_importorskip.py

@@ -0,0 +1,97 @@
+# Copyright 2026 Dimensional Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# 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 os
+
+from dimos.constants import DIMOS_PROJECT_ROOT
+
+PATTERN = "importorskip"
+
+IGNORED_DIRS = {
+    ".venv",
+    "venv",
+    "__pycache__",
+    "node_modules",
+    ".git",
+    "dist",
+    "build",
+    ".egg-info",
+    ".tox",
+}
+
+
+def _is_ignored_dir(dirpath: str) -> bool:
+    parts = dirpath.split(os.sep)
+    return bool(IGNORED_DIRS.intersection(parts))
+
+
+def find_importorskip_usages() -> list[tuple[str, int, str]]:
+    """Return a list of (rel_path, line_number, line_text) for every violation."""
+    dimos_dir = DIMOS_PROJECT_ROOT / "dimos"
+    violations: list[tuple[str, int, str]] = []
+    # Skip this test file: it necessarily contains the forbidden pattern.
+    self_path = os.path.realpath(__file__)
+
+    for dirpath, dirnames, filenames in os.walk(dimos_dir):
+        dirnames[:] = [d for d in dirnames if d not in IGNORED_DIRS]
+
+        if _is_ignored_dir(dirpath):
+            continue
+
+        for fname in filenames:
+            if not fname.endswith(".py"):
+                continue
+
+            full_path = os.path.join(dirpath, fname)
+            if os.path.realpath(full_path) == self_path:
+                continue
+            rel_path = os.path.relpath(full_path, DIMOS_PROJECT_ROOT)
+
+            try:
+                with open(full_path, encoding="utf-8", errors="replace") as f:
+                    for lineno, line in enumerate(f, start=1):
+                        stripped = line.rstrip("\n")
+                        if PATTERN not in stripped:
+                            continue
+                        violations.append((rel_path, lineno, stripped))
+            except (OSError, UnicodeDecodeError):
+                continue
+
+    return violations
+
+
+def test_no_importorskip():
+    """
+    Fail if any file uses `pytest.importorskip`.
+
+    `importorskip` silently skips a test (or a whole module) when an optional
+    dependency is missing. That means a broken test, or a dependency missing
+    from the dev/CI environment, goes unnoticed because the test never runs.
+    Install all dependencies locally so the tests actually execute. If a
+    dependency genuinely cannot be installed in some environment, exclude those
+    tests explicitly (e.g. a CI `--ignore`, or a platform-conditioned
+    `collect_ignore` in a conftest) rather than silently skipping per import.
+    """
+    violations = find_importorskip_usages()
+    if violations:
+        report_lines = [
+            f"Found {len(violations)} forbidden use(s) of `pytest.importorskip`. "
+            "Don't silently skip tests when a dependency is missing -- install all "
+            "dependencies so the tests run, or exclude the module explicitly "
+            "(CI `--ignore` / a platform `collect_ignore`):",
+            "",
+        ]
+        for path, lineno, text in violations:
+            report_lines.append(f"  {path}:{lineno}: {text.strip()}")
+        raise AssertionError("\n".join(report_lines))

dimos/hardware/manipulators/openarm/test_driver.py

@@ -22,10 +22,9 @@
 import struct
 import time
 
+import can
 import pytest
 
-can = pytest.importorskip("can")
-
 from dimos.hardware.manipulators.openarm.driver import (
     CTRL_MODE_MIT,
     KD_MAX,

dimos/manipulation/visualization/viser/conftest.py

@@ -0,0 +1,32 @@
+# Copyright 2026 Dimensional Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# 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 platform
+
+# viser[urdf] has no installable wheel set on linux-aarch64 (see the `tests`
+# dependency group marker in pyproject.toml), so these tests cannot be collected
+# there: their module-level imports pull in viser. Mirror the skipif_aarch64
+# convention (dimos/conftest.py) at collection time. test_state.py is
+# intentionally NOT listed -- it imports only viser.state (no viser dependency)
+# and runs on every platform.
+collect_ignore = (
+    [
+        "test_gui_status.py",
+        "test_operation_worker.py",
+        "test_viser_visualization.py",
+        "test_visualizer_lifecycle.py",
+    ]
+    if platform.machine() == "aarch64"
+    else []
+)

dimos/manipulation/visualization/viser/test_gui_status.py

@@ -16,8 +16,6 @@
 
 import pytest
 
-pytest.importorskip("viser", reason="Viser optional dependency is not installed")
-
 from dimos.manipulation.visualization.types import TargetEvaluation
 from dimos.manipulation.visualization.viser.adapter import InProcessViserAdapter
 from dimos.manipulation.visualization.viser.config import ViserVisualizationConfig

dimos/manipulation/visualization/viser/test_operation_worker.py

@@ -20,8 +20,6 @@
 
 import pytest
 
-pytest.importorskip("viser", reason="Viser optional dependency is not installed")
-
 from dimos.manipulation.visualization.types import RobotInfo
 from dimos.manipulation.visualization.viser.adapter import InProcessViserAdapter
 from dimos.manipulation.visualization.viser.config import ViserVisualizationConfig

dimos/manipulation/visualization/viser/test_viser_visualization.py

@@ -23,8 +23,6 @@
 import numpy as np
 import pytest
 
-pytest.importorskip("viser", reason="Viser optional dependency is not installed")
-
 from dimos.manipulation.visualization.types import RobotInfo, TargetEvaluation
 from dimos.manipulation.visualization.viser.adapter import InProcessViserAdapter
 from dimos.manipulation.visualization.viser.animation import (

dimos/manipulation/visualization/viser/test_visualizer_lifecycle.py

@@ -19,8 +19,6 @@
 
 import pytest
 
-pytest.importorskip("viser", reason="Viser optional dependency is not installed")
-
 from dimos.manipulation.planning.spec.config import RobotModelConfig
 from dimos.manipulation.planning.spec.models import PlanningSceneInfo
 from dimos.manipulation.visualization.viser import (

dimos/mapping/ray_tracing/test_transformer.py

@@ -18,8 +18,6 @@
 from numpy.typing import NDArray
 import pytest
 
-pytest.importorskip("dimos_voxel_ray_tracing")
-
 from dimos.mapping.ray_tracing.transformer import RayTraceMap
 from dimos.memory2.type.observation import Observation
 from dimos.msgs.sensor_msgs.PointCloud2 import PointCloud2

dimos/mapping/ray_tracing/test_voxel_map.py

@@ -15,8 +15,6 @@
 import numpy as np
 import pytest
 
-pytest.importorskip("dimos_voxel_ray_tracing")
-
 from dimos.mapping.ray_tracing.voxel_map import VoxelRayMapper
 
 ORIGIN = (0.0, 0.0, 0.0)

dimos/memory2/codecs/test_codecs.py

@@ -193,7 +193,4 @@ def test_lcm_type_returns_lcm(self) -> None:
         assert isinstance(codec_for(PoseStamped), LcmCodec)
 
     def test_image_type_returns_jpeg(self) -> None:
-        pytest.importorskip("turbojpeg")
-        from dimos.memory2.codecs.jpeg import JpegCodec
-
         assert isinstance(codec_for(Image), JpegCodec)

dimos/navigation/nav_3d/mls_planner/test_mls_planner.py

@@ -15,8 +15,6 @@
 import numpy as np
 import pytest
 
-pytest.importorskip("dimos_mls_planner")
-
 from dimos.navigation.nav_3d.mls_planner.mls_planner import MLSPlanner
 
 

dimos/navigation/nav_3d/mls_planner/test_transformer.py

@@ -16,9 +16,6 @@
 
 import numpy as np
 from numpy.typing import NDArray
-import pytest
-
-pytest.importorskip("dimos_mls_planner")
 
 from dimos.memory2.type.observation import Observation
 from dimos.msgs.sensor_msgs.PointCloud2 import PointCloud2

dimos/perception/fiducial/test_fixture_verification.py

@@ -38,8 +38,6 @@
 from dimos.perception.fiducial.marker_detect import detect_markers_in_image
 from dimos.perception.fiducial.marker_tf_module import MarkerTfModule
 
-pytest.importorskip("cv2.aruco")
-
 
 @pytest.fixture(scope="module")
 def layout() -> BoardLayout:

dimos/perception/fiducial/test_marker_detection_stream_module.py

@@ -19,8 +19,6 @@
 import numpy as np
 import pytest
 
-pytest.importorskip("cv2.aruco")
-
 from dimos.memory2.store.memory import MemoryStore
 from dimos.memory2.type.observation import Observation
 from dimos.msgs.geometry_msgs.Quaternion import Quaternion

dimos/perception/fiducial/test_marker_pose.py

@@ -14,7 +14,6 @@
 
 import cv2
 import numpy as np
-import pytest
 
 from dimos.msgs.sensor_msgs.CameraInfo import CameraInfo
 from dimos.msgs.sensor_msgs.Image import Image, ImageFormat
@@ -25,8 +24,6 @@
     marker_reprojection_error,
 )
 
-pytest.importorskip("cv2.aruco")
-
 
 def test_camera_optical_frame_id_resolution() -> None:
     ts = 1.0

dimos/perception/fiducial/test_marker_transformer.py

@@ -15,8 +15,6 @@
 import numpy as np
 import pytest
 
-pytest.importorskip("cv2.aruco")
-
 from dimos.memory2.type.observation import Observation
 from dimos.msgs.sensor_msgs.CameraInfo import CameraInfo
 from dimos.msgs.sensor_msgs.Image import Image, ImageFormat

dimos/protocol/pubsub/test_registry.py

@@ -15,6 +15,7 @@
 from __future__ import annotations
 
 import pytest
+import turbojpeg
 
 from dimos.core.transport import (
     JpegLcmTransport,
@@ -108,10 +109,9 @@ def test_make_pubsub_transport_shm_uses_SHMTransport() -> None:
 
 
 def test_make_pubsub_transport_jpeg_shm_uses_JpegShmTransport() -> None:
-    # The Python `turbojpeg` package is importable even when the native
-    # libturbojpeg.so is missing; the RuntimeError only fires when TurboJPEG()
-    # is actually constructed. Probe by trying to instantiate it.
-    turbojpeg = pytest.importorskip("turbojpeg")
+    # The native libturbojpeg.so can be missing even when the `turbojpeg`
+    # package imports fine; the RuntimeError only fires when TurboJPEG() is
+    # actually constructed. Probe by trying to instantiate it.
     try:
         turbojpeg.TurboJPEG()
     except RuntimeError as exc:

dimos/simulation/engines/test_robot_sim_binding.py

@@ -17,10 +17,9 @@
 from pathlib import Path
 from typing import Any
 
+import mujoco
 import pytest
 
-mujoco = pytest.importorskip("mujoco")
-
 from dimos.simulation.engines.mujoco_engine import MujocoEngine
 from dimos.simulation.engines.robot_sim_binding import (
     RobotSimSpec,