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feat(sim): switch air insert task to socket peg

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This commit is contained in:
Logic
2026-05-02 17:34:43 +08:00
parent 4c3646a3d5
commit 5c5cb299e9
16 changed files with 594 additions and 630 deletions
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12
tests/test_robot_asset_paths.py
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@@ -59,15 +59,15 @@ class RobotAssetPathResolutionTest(unittest.TestCase):
self.assertEqual({Path(path) for path in _FakeKDL.init_calls}, {expected_urdf})
self.assertTrue(all(Path(path).is_absolute() for path in _FakeKDL.init_calls))
def test_bidianamed_ring_bar_resolves_robot_asset_paths_independent_of_cwd(self):
BiDianaMedRingBar = getattr(diana_med, 'BiDianaMedRingBar', None)
def test_bidianamed_socket_peg_resolves_robot_asset_paths_independent_of_cwd(self):
BiDianaMedSocketPeg = getattr(diana_med, 'BiDianaMedSocketPeg', None)
self.assertIsNotNone(
BiDianaMedRingBar,
'Expected roboimi.assets.robots.diana_med.BiDianaMedRingBar',
BiDianaMedSocketPeg,
'Expected roboimi.assets.robots.diana_med.BiDianaMedSocketPeg',
)
repo_root = Path(__file__).resolve().parents[1]
expected_xml = repo_root / 'roboimi/assets/models/manipulators/DianaMed/bi_diana_ring_bar_ee.xml'
expected_xml = repo_root / 'roboimi/assets/models/manipulators/DianaMed/bi_diana_socket_peg_ee.xml'
expected_urdf = repo_root / 'roboimi/assets/models/manipulators/DianaMed/DualDianaMed.urdf'
xml_calls = []
@@ -89,7 +89,7 @@ class RobotAssetPathResolutionTest(unittest.TestCase):
'roboimi.assets.robots.arm_base.KDL_utils',
_FakeKDL,
):
BiDianaMedRingBar()
BiDianaMedSocketPeg()
finally:
os.chdir(previous_cwd)