Hardware API redesign (#777)

Co-authored-by: Pepijn <138571049+pkooij@users.noreply.github.com>
Co-authored-by: Steven Palma <imstevenpmwork@ieee.org>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Co-authored-by: Steven Palma <steven.palma@huggingface.co>
Co-authored-by: Adil Zouitine <adilzouitinegm@gmail.com>
Co-authored-by: Pepijn <pepijn@huggingface.co>

tests/robots/test_so100_follower.py

@@ -0,0 +1,95 @@
+from contextlib import contextmanager
+from unittest.mock import MagicMock, patch
+
+import pytest
+
+from lerobot.common.robots.so100_follower import (
+    SO100Follower,
+    SO100FollowerConfig,
+)
+
+
+def _make_bus_mock() -> MagicMock:
+    """Return a bus mock with just the attributes used by the robot."""
+    bus = MagicMock(name="FeetechBusMock")
+    bus.is_connected = False
+
+    def _connect():
+        bus.is_connected = True
+
+    def _disconnect(_disable=True):
+        bus.is_connected = False
+
+    bus.connect.side_effect = _connect
+    bus.disconnect.side_effect = _disconnect
+
+    @contextmanager
+    def _dummy_cm():
+        yield
+
+    bus.torque_disabled.side_effect = _dummy_cm
+
+    return bus
+
+
+@pytest.fixture
+def follower():
+    bus_mock = _make_bus_mock()
+
+    def _bus_side_effect(*_args, **kwargs):
+        bus_mock.motors = kwargs["motors"]
+        motors_order: list[str] = list(bus_mock.motors)
+
+        bus_mock.sync_read.return_value = {motor: idx for idx, motor in enumerate(motors_order, 1)}
+        bus_mock.sync_write.return_value = None
+        bus_mock.write.return_value = None
+        bus_mock.disable_torque.return_value = None
+        bus_mock.enable_torque.return_value = None
+        bus_mock.is_calibrated = True
+        return bus_mock
+
+    with (
+        patch(
+            "lerobot.common.robots.so100_follower.so100_follower.FeetechMotorsBus",
+            side_effect=_bus_side_effect,
+        ),
+        patch.object(SO100Follower, "configure", lambda self: None),
+    ):
+        cfg = SO100FollowerConfig(port="/dev/null")
+        robot = SO100Follower(cfg)
+        yield robot
+        if robot.is_connected:
+            robot.disconnect()
+
+
+def test_connect_disconnect(follower):
+    assert not follower.is_connected
+
+    follower.connect()
+    assert follower.is_connected
+
+    follower.disconnect()
+    assert not follower.is_connected
+
+
+def test_get_observation(follower):
+    follower.connect()
+    obs = follower.get_observation()
+
+    expected_keys = {f"{m}.pos" for m in follower.bus.motors}
+    assert set(obs.keys()) == expected_keys
+
+    for idx, motor in enumerate(follower.bus.motors, 1):
+        assert obs[f"{motor}.pos"] == idx
+
+
+def test_send_action(follower):
+    follower.connect()
+
+    action = {f"{m}.pos": i * 10 for i, m in enumerate(follower.bus.motors, 1)}
+    returned = follower.send_action(action)
+
+    assert returned == action
+
+    goal_pos = {m: (i + 1) * 10 for i, m in enumerate(follower.bus.motors)}
+    follower.bus.sync_write.assert_called_once_with("Goal_Position", goal_pos)