feat(vla): align transformer training stack and rollout validation

tests/test_robot_asset_paths.py

@@ -0,0 +1,63 @@
+import os
+import tempfile
+import unittest
+from pathlib import Path
+from unittest import mock
+
+from roboimi.assets.robots.diana_med import BiDianaMed
+
+
+class _FakeKDL:
+    init_calls = []
+    reset_calls = []
+
+    def __init__(self, urdf_path):
+        self.__class__.init_calls.append(urdf_path)
+
+    def resetChain(self, base, end):
+        self.__class__.reset_calls.append((base, end))
+
+
+class RobotAssetPathResolutionTest(unittest.TestCase):
+    def setUp(self):
+        _FakeKDL.init_calls = []
+        _FakeKDL.reset_calls = []
+
+    def test_bidianamed_resolves_robot_asset_paths_independent_of_cwd(self):
+        repo_root = Path(__file__).resolve().parents[1]
+        expected_xml = repo_root / 'roboimi/assets/models/manipulators/DianaMed/bi_diana_transfer_ee.xml'
+        expected_urdf = repo_root / 'roboimi/assets/models/manipulators/DianaMed/DualDianaMed.urdf'
+        xml_calls = []
+
+        def fake_from_xml_path(*, filename, assets=None):
+            xml_calls.append((filename, assets))
+            return object()
+
+        with tempfile.TemporaryDirectory() as tempdir:
+            previous_cwd = os.getcwd()
+            try:
+                os.chdir(tempdir)
+                with mock.patch(
+                    'roboimi.assets.robots.arm_base.mujoco.MjModel.from_xml_path',
+                    side_effect=fake_from_xml_path,
+                ), mock.patch(
+                    'roboimi.assets.robots.arm_base.mujoco.MjData',
+                    return_value=object(),
+                ), mock.patch(
+                    'roboimi.assets.robots.arm_base.KDL_utils',
+                    _FakeKDL,
+                ):
+                    BiDianaMed()
+            finally:
+                os.chdir(previous_cwd)
+
+        self.assertEqual(len(xml_calls), 1)
+        self.assertEqual(Path(xml_calls[0][0]), expected_xml)
+        self.assertTrue(Path(xml_calls[0][0]).is_absolute())
+        self.assertGreaterEqual(len(_FakeKDL.init_calls), 2)
+        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))
+
+
+if __name__ == '__main__':
+    unittest.main()