Add policy as Artefacts param

artefacts.yaml

@@ -34,9 +34,10 @@ jobs:
 
     scenarios:
       settings:
-        - name: report_based_waypoint_mission_test
-          run: "uv run dataflow --test-waypoint-poses --policy stumbling"
-
         - name: pose_based_waypoint_mission_test
-          run: "uv run dataflow --test-waypoint-poses --policy complete"
+          params:
+            policy:
+              - stumbling
+              - baseline
+          run: "uv run dataflow --test-waypoint-poses"
 

dataflow/pyproject.toml

@@ -13,6 +13,7 @@ dependencies = [
     "teleop",
     "dora-rs-cli>=0.3.13",
     "typer>=0.20.0",
+    "artefacts-toolkit>=0.7.1",
 ]
 
 [project.scripts]

dataflow/src/dataflow/dataflow.py

@@ -1,10 +1,12 @@
 import os
-import typer
+from pathlib import Path
+from typing import Optional
+
 import dora
+import typer
+from artefacts_toolkit.config import get_artefacts_params
 from dora.builder import DataflowBuilder
 from typing_extensions import Annotated
-from typing import Optional
-from pathlib import Path
 
 workspace_path = Path(__file__).parent.parent.parent.parent
 nodes_path = workspace_path / "nodes"
@@ -75,7 +77,7 @@ def run_dataflow(
             help=(
                 "Policy folder name inside 'policies' or absolute path. "
                 f"Available: {', '.join(available_policy_folders) if available_policy_folders else 'none detected'}. "
-                "Default: GO2_POLICY_PATH env or 'complete'."
+                "Default: GO2_POLICY_PATH env or 'baseline'."
             )
         ),
     ] = None,
@@ -104,7 +106,14 @@ def run_dataflow(
     if not policy:
         policy = os.getenv("GO2_POLICY_PATH")
         if not policy:
-            policy = "complete"
+            policy = "baseline"
+
+    # Use the policy set with Artefacts parameters if available
+    try:
+        policy = get_artefacts_params().get("policy", policy)
+    except Exception:
+        # Not executing within Artefacts context
+        pass
 
     if policy in available_policy_folders:
         policy = policies_folder / policy
@@ -151,10 +160,13 @@ def run_dataflow(
         policy_controller.add_input("command_2d", "navigator/command_2d")
 
         # Add the tester node
+        junit_xml_path = (
+            output_path / ".." / "tests_junit.xml"
+        )  # Save junit in the root outputs folder
         tester = dataflow.add_node(
             id="tester",
             path="pytest",
-            args=f"{nodes_path / 'tester/tester' / test} -s --junit-xml={str(output_path / 'tests_junit.xml')}",
+            args=f"{nodes_path / 'tester/tester' / test} -s --junit-xml={str(junit_xml_path)}",
         )
         tester.add_input("waypoints", "simulation/waypoints")
         tester.add_input("scene_info", "simulation/scene_info")

nodes/simulation/simulation/follow_camera.py

@@ -18,7 +18,7 @@ def __init__(self, target_prim_path: str = "/World/Go2/Head_lower"):
             orientation=rot_utils.euler_angles_to_quats(
                 np.array([0, 0, 0]), degrees=True
             ),
-            resolution=(1080 // 2, 720 // 2),
+            resolution=(1080, 720),
         )
         self.camera.set_focal_length(1.8)  # Same as the default perspective camera
         self.camera_location = np.array([0.0, 5.0, 2.0])

nodes/tester/tester/test_waypoints_poses.py

@@ -19,7 +19,7 @@ def test_receives_scene_info_on_startup(node):
 
 
 @pytest.mark.parametrize("difficulty", [0.1, 0.7, 1.1])
-@pytest.mark.clock_timeout(15)
+@pytest.mark.clock_timeout(30)
 def test_completes_waypoint_mission_with_variable_height_steps(node, difficulty: float):
     """Test that the waypoint mission completes successfully.