h1-workspace-testing

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# H1 Workspace Testing

## Build

```bash
python3 tests/workspace_smoke/run.py --workspace h1_ws --level build
```

## CLI

```bash
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.

```bash
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:

```bash
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

From j3soon/ros2-essentials, Apache-2.0.

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