git:20260722.d3e55a1 to git:20260723.4198fd6

---

name: rosclaw-simforge

description: Safely install, validate, diagnose, and optimize ROSClaw simulation workflows across MuJoCo/MJWarp, ROS 2 rosbridge, turtlesim, Gazebo, Isaac Sim, Isaac Lab multi-GPU training, MCP, and the signed ROSClaw Hub. Use for evidence-backed physical-AI smoke tests, 4-GPU validation, simulator integration, Hub upload/download tests, or ROSClaw verification reports without a real robot.

---

# ROSClaw SimForge

Validate the full software loop from CLI and safety gates through simulators,

MCP, evidence receipts, and asset distribution. Treat real hardware as out of

scope unless the user separately authorizes it.

## Safety boundary

- Use the exact `rosclaw` CLI from the checkout's `.venv/bin`; report a stale

global CLI before changing it.

- Use a temporary `ROSCLAW_HOME` for smoke tests and Hub operations.

- ROS graph discovery, subscription, and simulation are allowed. Never publish

actuator commands directly, call a motion service, or send an action goal.

- Route any action request through `rosclawd request_action` / ROSClaw MCP so

the daemon, sandbox, and firewall remain in the path.

- Do not stop unrelated GPU processes or containers. Inspect available memory

and choose the smallest useful workload.

- A dependency failure is a failure to diagnose and install around, not a

passing skip. Keep unsupported real-robot checks explicitly out of scope.

## Workflow

### 1. Establish provenance

Read the repository `AGENTS.md` and the task's verification document. Record:

```bash

git rev-parse HEAD

git status --short

nvidia-smi --query-gpu=index,name,memory.used,memory.free --format=csv

```

Fetch or compare upstream before claiming the checkout is current. Preserve

all pre-existing user changes.

### 2. Validate the ROSClaw core

Prepend the repository environment to `PATH`, use a temporary home, and run

doctor, status, the deterministic demo, receipt explanation, and the universal

agent/MCP probe. Then run the repository test groups requested by the project

verification document.

Do not claim a simulator pass from import-only evidence. Require a physics

step, a bounded task outcome, and a receipt or other machine-readable result.

### 3. Validate ROS 2 and Gazebo

Run `scripts/verify_ros2.sh` from this skill directory. It builds the Humble

rosbridge/turtlesim image, deploys the stack, discovers the live graph,

subscribes to pose, and proves direct velocity requests are blocked.

For Gazebo, run `scripts/verify_gazebo.sh`. Humble's recommended pairing is

Gazebo Fortress. The script starts the server headlessly, bridges `/clock`,

and requires a ROS 2 clock sample before calling it integrated.

### 4. Validate Isaac Lab and four GPUs

Read `references/verified-stack.md`, then run

`scripts/verify_isaaclab.sh`. The script performs bounded single-GPU and

multi-GPU Cartpole training with Newton/MJWarp. Four visible devices must map

to four ranks, synchronize gradients, advance physics, and exit zero.

An Isaac Sim container that advances physics but aborts during shutdown is a

partial pass with a lifecycle defect, not a clean pass.

### 5. Validate MCP

First probe ROSClaw's built-in MCP server and list its tools. For the community

Isaac Sim MCP adapter, isolate installation, start its extension only in a

simulator, perform an MCP initialize/list-tools/call-tool round trip, and state

that it is community-maintained rather than an NVIDIA-official MCP.

Never expose `execute_script` or scene mutation tools to real hardware.

### 6. Validate Hub upload/download

Run `scripts/verify_hub.sh`. It uses the repository fixture key and an isolated

local HTTP registry to exercise validation, signature verification, login,

signed publish, catalog sync/search, remote dry-run download, install, list,

uninstall, and empty final state. Never reuse the fixture key for production.

### 7. Report the evidence ceiling

Separate `PASS`, `PARTIAL`, `FAIL`, and `OUT OF SCOPE`. Include exact commit,

versions, commands, exit codes, test counts, GPU mapping, and artifact paths.

## Resources

- `scripts/verify_ros2.sh` — live ROS 2/turtlesim safety loop.

- `scripts/verify_gazebo.sh` — headless Fortress-to-ROS 2 clock bridge.

- `scripts/verify_isaaclab.sh` — bounded one- and multi-GPU Isaac Lab loop.

- `scripts/verify_hub.sh` — signed local Hub upload/download loop.

- `references/verified-stack.md` — tested versions, expected evidence, and

known compatibility limits.