Improve Artefacts setup (#12)

* Add Artefacts setup instructions

* Use `ARTEFACTS_SCENARIO_UPLOAD_DIR` for outputs

* Simplify artefacts instructions and clear-up language

* Remove OUTPUT_DIR environment variable from simulation node

* Fix typo

Author: azazdeaz

README.md

@@ -1,12 +1,12 @@
 # Isaac Sim - Unitree Go2 example
 
-This project demos testing waypoint mission execution by a Unitree Go2 quadruped in different simulated environments.   
+This project demonstrates testing waypoint mission execution with a Unitree Go2 quadruped in different simulated environments.   
 
 <img width="3716" height="2100" alt="go2-example-scenes" src="https://github.com/user-attachments/assets/212c96c9-bbe3-42e5-9a3a-7e28ee00b5f0" />
 
 ## Prerequisites
-- Isaac Sim 5.0 compatible [hardware](https://docs.isaacsim.omniverse.nvidia.com/latest/installation/requirements.html) and [driver](https://docs.omniverse.nvidia.com/dev-guide/latest/common/technical-requirements.html)
-- [`uv` package manager](https://docs.astral.sh/uv/getting-started/installation/) (Not mandatory, but the instructions below are using `uv`)
+- Isaac Sim 5.0 compatible [hardware](https://docs.isaacsim.omniverse.nvidia.com/latest/installation/requirements.html) and [drivers](https://docs.omniverse.nvidia.com/dev-guide/latest/common/technical-requirements.html)
+- [`uv` package manager](https://docs.astral.sh/uv/getting-started/installation/) (Not mandatory, but the instructions below use `uv`)
 - [Git LFS](https://docs.github.com/en/repositories/working-with-files/managing-large-files/installing-git-large-file-storage) 
 
 ## Setup
@@ -17,85 +17,100 @@ git lfs pull
 ```
 
 ```sh
-# create the virtual environment and install dependencies
+# Create the virtual environment and install dependencies
 uv sync
 ```
 
-## Run teleop demo
-Use **WASD** for linear motion and **QE** for turning. **R** reloads the scene and **F** jumps to the next one. 
+## Run Teleop Demo
+Use **WASD** for linear motion and **QE** for turning. Press **R** to reload the scene and **F** to jump to the next one. 
 ```sh
 uv run dataflow  --teleop
 ```
 
+## Run Tests with dora-rs
+This executes all the tests locally.
+```sh
+# Run test with dora-rs and pytest
+uv run dataflow --test-all
+```
+See `uv run dataflow --help` for all options
 
 ## Testing with Artefacts
 
-Follow the instructions at [docs.artefacts.com](https://docs.artefacts.com/getting-started/) to set-up the project. 
+### Set up the Artefacts Dashboard
+Follow these steps to set up your Artefacts project. For more details, refer to the [documentation](https://docs.artefacts.com/getting-started/). 
 
+1. Install the CLI using `pipx` (other installation methods are available).
 ```sh
-# Launch Isaac Sim and execute multiple waypoint tests
-uvx --from artefacts-cli artefacts run waypoint_missions
+sudo apt install pipx
+pipx ensurepath
+pipx install artefacts-cli
 ```
 
-## Run tests with dora-rs
-This will execute all the tests without parameterization in `artefacts.yaml`
+2. Create an account at https://app.artefacts.com and log in.
+3. Create a new project and follow the authentication instructions provided on the project page.
+4. Update [artefacts.yaml](./artefacts.yaml) with your project name.
+
+### Run Tests with Artefacts
+
 ```sh
-# Run test with dora-rs and pytest
-uv run dataflow --test-all
+# Launch Isaac Sim and execute multiple waypoint tests
+artefacts run waypoint_missions
 ```
-See `uv run dataflow --help` for all options
+Track the job status on your project page. Test outputs for each scenario will appear there upon completion.
+
 
 
 
-## Project walkthrough
+## Project Walkthrough
 
-### Main tools:
+### Main Tools
  - Isaac Sim for simulation
  - `dora-rs` as the robotics framework
- - PyTorch executing the control policy
+ - PyTorch for executing the control policy
 
-This repo is organized as a Python workspace with multiple Python packages.
+This repository is organized as a Python workspace containing multiple packages.
 
 ### Nodes
-The `dora-rs` nodes are organized as separate Python packages under `nodes/*`
+`dora-rs` nodes are organized as separate Python packages located in `nodes/*`.
 
- - [`simulation`](./nodes/simulation/) runs the Isaac Sim simulation
-   - It outputs observations and information about the simulation like `robot_pose`, `simulation_time`, `waypoints`.
-   - It listens to the low-level joint commands and applies them on the simulated robot.
-   - Also accepts `load_scene` input that allows the test nodes to load different scenes without restarting the simulation.
- - [`navigator`](./nodes/navigator/) using the robot position and the waypoint positions, it computes and publishes the high-level 2D navigation commands.
- - [`policy_controller`](./nodes/policy_controller/) takes the high-level 2D navigation commands from the `navigator` nodes and outputs the low-level joint commands to the `simulation` node
- - [`tester`](./nodes/tester/) contains the test nodes that should be executed with `pytest`
-   - [test_waypoints_poses.py](./nodes/tester/tester/test_waypoints_poses.py) Executes multiple waypoint navigation scenarios and uses the robot and waypoint position data to determine if the waypoint mission was successful.
-   - [test_waypoints_report.py](./nodes/tester/tester/test_waypoints_report.py) The simplified version of the test above, that uses the internal waypoint mission state from the simulation to determine if the waypoint mission was successful.
- - [`teleop`](./nodes/teleop/) implements keyboard teleop control
+ - [`simulation`](./nodes/simulation/) runs the Isaac Sim simulation.
+   - Outputs observations and simulation data, such as `robot_pose`, `simulation_time`, and `waypoints`.
+   - Listens for low-level joint commands and applies them to the simulated robot.
+   - Accepts a `load_scene` input, allowing test nodes to switch scenes without restarting the simulation.
+ - [`navigator`](./nodes/navigator/) computes and publishes high-level 2D navigation commands based on the robot's position and waypoints.
+ - [`policy_controller`](./nodes/policy_controller/) receives high-level 2D navigation commands from the `navigator` node and outputs low-level joint commands to the `simulation` node.
+ - [`tester`](./nodes/tester/) contains test nodes executed via `pytest`.
+   - [test_waypoints_poses.py](./nodes/tester/tester/test_waypoints_poses.py) Executes multiple waypoint navigation scenarios, using robot and waypoint position data to verify mission success.
+   - [test_waypoints_report.py](./nodes/tester/tester/test_waypoints_report.py) A simplified version of the above test that uses the simulation's internal waypoint mission state to verify success.
+ - [`teleop`](./nodes/teleop/) implements keyboard teleoperation control.
 
-### Other packages
- - [`msgs`](./msgs/) Implements the necessary messages as python classes using [`arrow-message`](https://github.com/hennzau/arrow-message) 
- - [`dataflow`](./dataflow/) Using the [`dora-rs dataflow builder`](https://github.com/dora-rs/dora/tree/main/examples/python-dataflow-builder) implements a CLI to configure and run `dora-rs` dataflows. Run `uv run dataflow --help` to see all options.
+### Other Packages
+ - [`msgs`](./msgs/) implements necessary messages as Python classes using [`arrow-message`](https://github.com/hennzau/arrow-message).
+ - [`dataflow`](./dataflow/) implements a CLI to configure and run `dora-rs` dataflows using the [`dora-rs dataflow builder`](https://github.com/dora-rs/dora/tree/main/examples/python-dataflow-builder). Run `uv run dataflow --help` for options.
 
-### Future nodes
- - `teleop` for controlling the robot with keyboard or gamepad
- - `dds-transport` for interfacing the real Unitree Go2 hardware
+### Future Nodes
+ - `teleop`: Control the robot via keyboard or gamepad.
+ - `dds-transport`: Interface with real Unitree Go2 hardware.
 
 
 ## Training
 
-Policy training is separated in a standard Isaac Lab project: https://github.com/art-e-fact/go2_isaac_lab_env.
+Policy training is handled in a separate Isaac Lab project: [go2_isaac_lab_env](https://github.com/art-e-fact/go2_isaac_lab_env).
 
 Steps:
- - Follow the instructions in [go2_isaac_lab_env](https://github.com/art-e-fact/go2_isaac_lab_env) train the new policy
- - Use `scripts/rsl_rl/play.py` to export the trained policy.
- - This will generate `logs/<checkpoint>/exported/policy.pt` and `logs/<checkpoint>/params/env.yaml`. 
- - Override these files in the `./nodes/policy_controller/policy` of this repo.
- - Try the new policy with `uv run python -m simulation`
+ - Follow the instructions in the [go2_isaac_lab_env](https://github.com/art-e-fact/go2_isaac_lab_env) repository to train a new policy.
+ - Use `scripts/rsl_rl/play.py` to export the policy.
+ - This generates `logs/<checkpoint>/exported/policy.pt` and `logs/<checkpoint>/params/env.yaml`. 
+ - Overwrite the files in `./nodes/policy_controller/policy` in this repository with the newly generated files.
+ - Test the new policy with `uv run python -m simulation`.
 
 
 
 ## Development
 
 ```sh
-# Setup isaacsim type hints in VS Code
+# Set up Isaac Sim type hints in VS Code
 uv run -m isaacsim --generate-vscode-settings
 ```
 

artefacts.yaml

@@ -35,10 +35,8 @@ jobs:
     scenarios:
       settings:
         - name: report_based_waypoint_mission_test
-          run: "rm -rf outputs/artefacts && uv run dataflow --test-waypoint-report"
-          output_dirs: ["outputs/artefacts"]
+          run: "uv run dataflow --test-waypoint-report"
 
         - name: pose_based_waypoint_mission_test
-          run: "rm -rf outputs/artefacts && uv run dataflow --test-waypoint-poses"
-          output_dirs: ["outputs/artefacts"]
+          run: "uv run dataflow --test-waypoint-poses"
 

dataflow/src/dataflow/dataflow.py

@@ -1,12 +1,15 @@
+import os
 import typer
 import dora
 from dora.builder import DataflowBuilder
 from typing_extensions import Annotated
 from pathlib import Path
 
 workspace_path = Path(__file__).parent.parent.parent.parent
-output_path = workspace_path / "outputs/artefacts"
 nodes_path = workspace_path / "nodes"
+output_path = Path(
+    os.getenv("ARTEFACTS_SCENARIO_UPLOAD_DIR", workspace_path / "outputs/artefacts")
+)
 temp_dataflow_path = output_path / "dataflow.yaml"
 
 
@@ -29,7 +32,6 @@ def _create_base_dataflow() -> DataflowBuilder:
         args="--scene generated_pyramid --use-auto-pilot",
         env={
             "OMNI_KIT_ACCEPT_EULA": "YES",
-            "OUTPUT_DIR": str(output_path),
         },
     )
     simulation.add_input("pub_status_tick", "dora/timer/millis/200")

nodes/simulation/simulation/go2_scene.py

@@ -25,7 +25,7 @@
 from simulation.waypoint_mission import WaypointMission
 
 SCENE_ROOT = "/Scene"
-OUTPUT_DIR = Path(os.getenv("OUTPUT_DIR", "outputs/artefacts"))
+OUTPUT_DIR = Path(os.getenv("ARTEFACTS_SCENARIO_UPLOAD_DIR", "outputs/artefacts"))
 
 
 def add_reference(