From 1ff8986c77db7570059e92a27bc7a72b2f080b03 Mon Sep 17 00:00:00 2001
From: Francesco Capuano <74058581+fracapuano@users.noreply.github.com>
Date: Sat, 18 Oct 2025 12:06:43 +0200
Subject: [PATCH] fix: add MockMotorBus to MockRobot (#2081)

---
 tests/mocks/mock_robot.py | 17 ++++++++++++++++-
 1 file changed, 16 insertions(+), 1 deletion(-)

diff --git a/tests/mocks/mock_robot.py b/tests/mocks/mock_robot.py
index 027ee45ed..b0513fd38 100644
--- a/tests/mocks/mock_robot.py
+++ b/tests/mocks/mock_robot.py
@@ -20,8 +20,10 @@ from functools import cached_property
 from typing import Any
 
 from lerobot.cameras import CameraConfig, make_cameras_from_configs
+from lerobot.motors.motors_bus import Motor, MotorNormMode
 from lerobot.robots import Robot, RobotConfig
 from lerobot.utils.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
+from tests.mocks.mock_motors_bus import MockMotorsBus
 
 
 @RobotConfig.register_subclass("mock_robot")
@@ -58,9 +60,22 @@ class MockRobot(Robot):
         self.config = config
         self._is_connected = False
         self._is_calibrated = config.calibrated
-        self.motors = [f"motor_{i + 1}" for i in range(config.n_motors)]
         self.cameras = make_cameras_from_configs(config.cameras)
 
+        mock_motors = {}
+        for i in range(config.n_motors):
+            motor_name = f"motor_{i + 1}"
+            mock_motors[motor_name] = Motor(
+                id=i + 1,
+                model="model_1",  # Use model_1 which exists in MockMotorsBus tables
+                norm_mode=MotorNormMode.RANGE_M100_100,
+            )
+
+        self.bus = MockMotorsBus("/dev/dummy-port", mock_motors)
+
+        # NOTE(fracapuano): The .motors attribute was used from the previous interface
+        self.motors = [f"motor_{i + 1}" for i in range(config.n_motors)]
+
     @property
     def _motors_ft(self) -> dict[str, type]:
         return {f"{motor}.pos": float for motor in self.motors}