feat(policy): add scripted air insertion policy

tests/test_air_insert_env.py

@@ -300,5 +300,69 @@ class AirInsertRewardAndSuccessTest(unittest.TestCase):
         self.assertEqual(reward, 5)
 
 
+class AirInsertPolicyAndSmokeTest(unittest.TestCase):
+    def test_air_insert_policy_emits_valid_16d_action(self):
+        policy_module = importlib.import_module("roboimi.demos.diana_air_insert_policy")
+        policy_cls = getattr(policy_module, "TestAirInsertPolicy", None)
+        self.assertIsNotNone(
+            policy_cls,
+            "Expected roboimi.demos.diana_air_insert_policy.TestAirInsertPolicy",
+        )
+
+        task_state = act_ex_utils.sample_air_insert_ring_bar_state()
+        policy = policy_cls(inject_noise=False)
+        action = policy.predict(task_state, 0)
+
+        self.assertEqual(action.shape, (16,))
+        np.testing.assert_array_equal(action[-2:], np.array([100, 100]))
+
+    def test_scripted_rollout_entrypoint_selects_ring_bar_sampler_and_policy(self):
+        rollout_module = importlib.import_module("roboimi.demos.diana_record_sim_episodes")
+        sampler_fn = getattr(rollout_module, "sample_task_state", None)
+        policy_factory = getattr(rollout_module, "make_policy", None)
+        self.assertIsNotNone(
+            sampler_fn,
+            "Expected roboimi.demos.diana_record_sim_episodes.sample_task_state",
+        )
+        self.assertIsNotNone(
+            policy_factory,
+            "Expected roboimi.demos.diana_record_sim_episodes.make_policy",
+        )
+
+        task_state = sampler_fn("sim_air_insert_ring_bar")
+        self.assertEqual(
+            list(task_state.keys()),
+            ["ring_pos", "ring_quat", "bar_pos", "bar_quat"],
+        )
+
+        policy = policy_factory("sim_air_insert_ring_bar", inject_noise=False)
+        self.assertEqual(policy.__class__.__name__, "TestAirInsertPolicy")
+
+    def test_real_headless_smoke_instantiates_resets_and_steps_new_task_once(self):
+        policy_module = importlib.import_module("roboimi.demos.diana_air_insert_policy")
+        policy_cls = getattr(policy_module, "TestAirInsertPolicy", None)
+        self.assertIsNotNone(policy_cls)
+
+        task_state = act_ex_utils.sample_air_insert_ring_bar_state()
+        env = make_sim_env("sim_air_insert_ring_bar", headless=True)
+        policy = policy_cls(inject_noise=False)
+
+        try:
+            env.reset(task_state)
+            action = policy.predict(task_state, 0)
+            env.step(action)
+            self.assertIsNotNone(env.obs)
+            self.assertIn("qpos", env.obs)
+            self.assertIn("images", env.obs)
+        finally:
+            env.exit_flag = True
+            cam_thread = getattr(env, "cam_thread", None)
+            if cam_thread is not None:
+                cam_thread.join(timeout=1.0)
+            viewer = getattr(env, "viewer", None)
+            if viewer is not None:
+                viewer.close()
+
+
 if __name__ == "__main__":
     unittest.main()