feat(dependencies): minimal default tag install (#3362)

tests/mocks/mock_dynamixel.py

@@ -21,10 +21,25 @@ import dynamixel_sdk as dxl
 import serial
 from mock_serial.mock_serial import MockSerial
 
-from lerobot.motors.dynamixel.dynamixel import _split_into_byte_chunks
-
 from .mock_serial_patch import WaitableStub
 
+
+def _split_into_byte_chunks(value: int, length: int) -> list[int]:
+    """Split an integer into a list of byte-sized integers (little-endian)."""
+    if length == 1:
+        data = [value]
+    elif length == 2:
+        data = [dxl.DXL_LOBYTE(value), dxl.DXL_HIBYTE(value)]
+    elif length == 4:
+        data = [
+            dxl.DXL_LOBYTE(dxl.DXL_LOWORD(value)),
+            dxl.DXL_HIBYTE(dxl.DXL_LOWORD(value)),
+            dxl.DXL_LOBYTE(dxl.DXL_HIWORD(value)),
+            dxl.DXL_HIBYTE(dxl.DXL_HIWORD(value)),
+        ]
+    return data
+
+
 # https://emanual.robotis.com/docs/en/dxl/crc/
 DXL_CRC_TABLE = [
     0x0000, 0x8005, 0x800F, 0x000A, 0x801B, 0x001E, 0x0014, 0x8011,

tests/mocks/mock_feetech.py

@@ -21,11 +21,27 @@ import scservo_sdk as scs
 import serial
 from mock_serial import MockSerial
 
-from lerobot.motors.feetech.feetech import _split_into_byte_chunks, patch_setPacketTimeout
+from lerobot.motors.feetech.feetech import patch_setPacketTimeout
 
 from .mock_serial_patch import WaitableStub
 
 
+def _split_into_byte_chunks(value: int, length: int) -> list[int]:
+    """Split an integer into a list of byte-sized integers (little-endian)."""
+    if length == 1:
+        data = [value]
+    elif length == 2:
+        data = [scs.SCS_LOBYTE(value), scs.SCS_HIBYTE(value)]
+    elif length == 4:
+        data = [
+            scs.SCS_LOBYTE(scs.SCS_LOWORD(value)),
+            scs.SCS_HIBYTE(scs.SCS_LOWORD(value)),
+            scs.SCS_LOBYTE(scs.SCS_HIWORD(value)),
+            scs.SCS_HIBYTE(scs.SCS_HIWORD(value)),
+        ]
+    return data
+
+
 class MockFeetechPacket(abc.ABC):
     @classmethod
     def build(cls, scs_id: int, params: list[int], length: int, *args, **kwargs) -> bytes:

tests/mocks/mock_motors_bus.py

@@ -17,6 +17,7 @@
 from lerobot.motors.motors_bus import (
     Motor,
     MotorsBus,
+    MotorsBusBase,
 )
 
 DUMMY_CTRL_TABLE_1 = {
@@ -122,6 +123,12 @@ class MockPortHandler:
 
 
 class MockMotorsBus(MotorsBus):
+    """Mock motor bus that bypasses hardware dependency checks.
+
+    Inherits from MotorsBus (alias for SerialMotorsBus) for type compatibility,
+    but calls MotorsBusBase.__init__ directly to skip the pyserial/deepdiff guards.
+    """
+
     available_baudrates = [500_000, 1_000_000]
     default_timeout = 1000
     model_baudrate_table = DUMMY_MODEL_BAUDRATE_TABLE
@@ -132,8 +139,13 @@ class MockMotorsBus(MotorsBus):
     normalized_data = ["Present_Position", "Goal_Position"]
 
     def __init__(self, port: str, motors: dict[str, Motor]):
-        super().__init__(port, motors)
+        # Skip SerialMotorsBus.__init__ (which guards pyserial/deepdiff)
+        # and call the base class directly — this mock never touches real serial.
+        MotorsBusBase.__init__(self, port, motors)
         self.port_handler = MockPortHandler(port)
+        self._id_to_model_dict = {m.id: m.model for m in self.motors.values()}
+        self._id_to_name_dict = {m.id: name for name, m in self.motors.items()}
+        self._model_nb_to_model_dict = {v: k for k, v in self.model_number_table.items()}
 
     def _assert_protocol_is_compatible(self, instruction_name): ...
     def _handshake(self): ...