feat(env): register sim air insert ring bar task

tests/test_robot_asset_paths.py

@@ -4,7 +4,7 @@ import unittest
 from pathlib import Path
 from unittest import mock
 
-from roboimi.assets.robots.diana_med import BiDianaMed
+from roboimi.assets.robots import diana_med
 
 
 class _FakeKDL:
@@ -24,6 +24,7 @@ class RobotAssetPathResolutionTest(unittest.TestCase):
         _FakeKDL.reset_calls = []
 
     def test_bidianamed_resolves_robot_asset_paths_independent_of_cwd(self):
+        BiDianaMed = diana_med.BiDianaMed
         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'
@@ -58,6 +59,47 @@ 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)
+        self.assertIsNotNone(
+            BiDianaMedRingBar,
+            'Expected roboimi.assets.robots.diana_med.BiDianaMedRingBar',
+        )
+
+        repo_root = Path(__file__).resolve().parents[1]
+        expected_xml = repo_root / 'roboimi/assets/models/manipulators/DianaMed/bi_diana_ring_bar_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,
+                ):
+                    BiDianaMedRingBar()
+            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()