test(robocasa): move simulator smoke checks into the E2E suite (v0.1)

docs/source-en/rst_source/simulators/robocasa.rst

@@ -580,7 +580,7 @@ model weights are needed:
 
    uv pip install pytest pytest-timeout
    RPENT_RUN_ROBOCASA_INTEGRATION=1 \
-      pytest tests/integration_tests/robots/robocasa/test_target50_runtime_smoke.py -v
+      pytest tests/e2e_tests/robocasa/test_environment_smoke.py -v
 
 Expect four passes: three tasks (``OpenDrawer``, ``NavigateKitchen`` and
 ``PickPlaceCounterToCabinet`` at seed 1) plus a mobile-camera check.

docs/source-zh/rst_source/simulators/robocasa.rst

@@ -446,7 +446,7 @@ Target50 包含 50 个厨房任务，共运行 340 次。以下使用 Codex、GP
 
    uv pip install pytest pytest-timeout
    RPENT_RUN_ROBOCASA_INTEGRATION=1 \
-      pytest tests/integration_tests/robots/robocasa/test_target50_runtime_smoke.py -v
+      pytest tests/e2e_tests/robocasa/test_environment_smoke.py -v
 
 预期四项通过：三个任务（``OpenDrawer``、``NavigateKitchen``、``PickPlaceCounterToCabinet``，seed 1）和移动相机检查。
 

tests/README.md

@@ -1,10 +1,10 @@
 # Test suite structure
 
-RPent keeps its fast, offline unit tests under `unit_tests` and its
-checkpoint-backed embodied GPU tests and explicit real-robot diagnostics under
-`e2e_tests`. Unit tests mirror the
-production module they exercise. GPU E2E tests are grouped by robot stack and
-exercise the real simulator and model runtime.
+RPent keeps fast, offline unit tests under `unit_tests`. Real-simulator smoke
+tests, model component and policy-chain tests, and explicit real-robot
+diagnostics belong under `e2e_tests`. Unit tests mirror the production module
+they exercise; GPU tests are grouped by robot stack. Environment smoke tests
+can run without model checkpoints.
 
 ## Directory layout
 
@@ -14,7 +14,7 @@ tests/
 ├── e2e_tests/
 │   ├── common.py         # shared assertions and runtime lifecycle helpers
 │   ├── run_gpu_suite.sh  # clean-environment entry point for one robot stack
-│   ├── dual_franka/     # opt-in real-robot VLA diagnostic console
+│   ├── dual_franka/      # opt-in real-robot VLA diagnostic console
 │   ├── libero/
 │   ├── robocasa/
 │   └── robotwin/
@@ -52,9 +52,10 @@ them when the first test for that module lands.
 - Name files after the behavior they verify: `*_contracts.py` for stable API
   contracts, `*_loopback.py` for real local transports, `*_lifecycle.py` for
   resource ownership, and `*_smoke.py` for installation or startup checks.
-- Put checkpoint-backed simulator and policy-chain coverage under the matching
-  `tests/e2e_tests/<robot>/` directory. Keep reusable validation and lifecycle
-  code in `tests/e2e_tests/common.py`.
+- Put real-simulator smoke tests, model component tests and policy-chain tests
+  under `tests/e2e_tests/<robot>/`. Keep environment smoke tests independent of
+  fixtures that require model checkpoints. Reusable validation and lifecycle
+  code belongs in `tests/e2e_tests/common.py`.
 
 Unit tests must run offline on an ordinary CPU machine. They may cross a real
 local boundary, such as a loopback TCP connection or child process, but must
@@ -68,15 +69,25 @@ pytest tests/unit_tests -v
 
 ## RoboCasa environment smoke tests
 
-The opt-in RoboCasa smoke suite verifies simulator installation and environment
-interfaces without loading a planner or VLA checkpoint. Install the RoboCasa
-extra and assets, then run:
+RoboCasa separates simulator checks, model component checks and the full call chain:
+
+| Tests | Coverage | Requirements |
+| --- | --- | --- |
+| `test_environment_smoke.py` | Three scenes, navigation RGB-D/world map and mobile-camera tracking | RoboCasa extra, assets and GPU/EGL; no model weights or planner credentials |
+| `test_components.py` | Environment observations over RPC and RLDX inference | Model checkpoint, assets and GPU/EGL |
+| `test_policy_chain.py` | CLI → tools → RLDX → simulator action → `finish` | Model checkpoint, assets and GPU/EGL; local scripted planner |
+
+To check simulator installation and interfaces independently, install the
+RoboCasa extra and assets, then run:
 
 ```bash
 RPENT_RUN_ROBOCASA_INTEGRATION=1 \
-  pytest tests/integration_tests/robots/robocasa/test_target50_runtime_smoke.py -v
+  pytest tests/e2e_tests/robocasa/test_environment_smoke.py -v
 ```
 
+This command needs neither `RLDX_MODEL_PATH` nor `RPENT_E2E_OUTPUT_DIR`. Without
+`RPENT_RUN_ROBOCASA_INTEGRATION=1`, the four smoke cases are skipped.
+
 The four cases cover `OpenDrawer`, `NavigateKitchen`, and
 `PickPlaceCounterToCabinet` at seed 1, plus mobile-camera movement. Task checks
 verify construction/reset, 12D actions, operation cameras, navigation RGB-D/world
@@ -104,6 +115,11 @@ bash tests/e2e_tests/run_gpu_suite.sh \
   /path/to/new-venv-root
 ```
 
+For RoboCasa, the runner enables the four environment smoke cases alongside
+the two component tests and one policy-chain test. The existing
+[GPU CI](../.github/workflows/embodied-gpu-e2e-run.yml) uses this same runner for
+all seven checks. The scripted planner needs no external planner credentials.
+
 ## Dual-Franka VLA diagnostic console
 
 Run the real-robot diagnostic explicitly from a source checkout after installing

tests/e2e_tests/run_gpu_suite.sh

@@ -291,6 +291,7 @@ case "$target" in
   robocasa)
     require_dir RLDX_MODEL_PATH
     require_dir ROBOCASA_ASSETS_PATH
+    export RPENT_RUN_ROBOCASA_INTEGRATION=1
     run_in_clean_env \
       robocasa 3.10 robocasa tests/e2e_tests/robocasa "$output_dir/robocasa"
     ;;