| name | h1-workspace-testing |
| description | Test and generate proof for h1_ws. Use when validating the H1 workspace build, Docker image CLI health, runtime checks, or Isaac Sim H1 joint-command motion proof. |
H1 Workspace Testing
Build
python3 tests/workspace_smoke/run.py --workspace h1_ws --level build
CLI
python3 tests/workspace_smoke/run.py --workspace h1_ws --level image-cli
python3 tests/workspace_smoke/run.py --workspace h1_ws --level cli
GUI Proof
Runs the documented Custom Isaac Sim Environment demo. The runner opens
h1_og.usda with the Isaac timeline paused, validates /World/h1, 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 starts Compose with
docker compose up -d --build --pull never and disables registry build caches.
python3 tests/workspace_smoke/doc_demo_smoke.py --workspace h1_ws \
--summary-json tests/workspace_smoke/artifacts/h1_ws-doc-demo.json
Report back with the summary JSON path, log path, screenshot path, MP4
recording path, and the exact /joint_command that was sent.
Full Proof with Recording
For screenshot + recording proof with proper wait logic:
python3 tests/workspace_smoke/isaac_gui_proof_capture.py \
--workspace h1_ws \
--screenshot --recording --seconds 10
Key timing notes:
- Isaac Sim 6.0.1 takes 30-60s to launch
- Stage loading takes additional 10-20s
- Wait for
ISAAC_GUI_SCENE_READY or ISAAC_GUI_TIMELINE_PLAYING in logs
- Add 10s settle time before capture to avoid black frames
- Recording requires X11 display (
DISPLAY=:0) and proper window visibility
