Go2 Workspace Testing

Build

python3 tests/workspace_smoke/run.py --workspace go2_ws --level build

CLI

python3 tests/workspace_smoke/run.py --workspace go2_ws --level image-cli
python3 tests/workspace_smoke/run.py --workspace go2_ws --level cli

GUI Proof

Runs the documented Custom Isaac Sim Environment demo. The runner opens go2_og.usda with the Isaac timeline paused, validates /World/go2, starts host X11 recording, triggers Isaac timeline Play, verifies ROS traffic with ros2 topic echo --once /clock and ros2 topic echo --once /joint_states, waits for the scene to stabilize, publishes the documented /joint_command, then captures a final host X11 screenshot. The MP4 must include the start of simulation and pre-command frames. The doc-demo runner builds locally and refuses registry pulls. After a successful build, add --no-build to reuse the tested image.

python3 tests/workspace_smoke/doc_demo_smoke.py --workspace go2_ws \
  --summary-json tests/workspace_smoke/artifacts/go2_ws-doc-demo.json

Report back with the summary JSON path, log path, screenshot path, and MP4 recording path.

Isaac Lab Rough-Terrain Proof

The Go2 Isaac Lab check runs two RSL-RL training iterations, verifies and copies model_1.pt, then loads the published pretrained policy with the Kit visualizer. It captures a screenshot and a 15-second X11 recording after the playback readiness marker. The host needs xdotool, xprop, and ffmpeg. The runner requires one newly visible Isaac Lab window and captures that window. Keep it in the foreground throughout recording. Missing, ambiguous, hidden, or covered windows fail the proof. Inspect the screenshot and a video frame to confirm that Go2 and the terrain rendered. Use a local image that includes Isaac Lab 3.0.0-EA. The runner reuses it without rebuilding and leaves the Compose service running so the logs and checkpoint remain available inside the container. Its camera-following CLI overrides work in 3.0.0-EA but are deprecated. Use KitVisualizerCfg in custom task code, as shown in docs/go2-ws/index.md.

python3 tests/workspace_smoke/go2_rough_smoke.py --workspace go2_ws

If only the fully built template image is available, pass --workspace template_ws. Pass --build to build the chosen workspace first. Report the summary JSON, training log, checkpoint, screenshot, and MP4 paths.