Document the three-level workspace command interface#13
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Documents the workspace interface protocol: level 1 lifecycle tasks (setup/build/test/clean/doctor, one-command day-one ritual with the cached setup chain), level 2 the packaged hc toolbox (on PATH; includes the new hc viz / hc viz urdf forms), level 3 scenario tasks (sim/real/ policy + qualifiers, workspace-defined scope). Updates every stale task name across the site (launch-* -> sim/real/policy, visualize/view -> hc viz urdf, ros2 run humanoid_control_cli hc -> hc), the installation ritual (pixi run setup + build chain, colcon-defaults note, doctor step), and the humanoid_control_cli package description; also fixes the leftover `bar <verb>` and bar.repos references. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
Scenario task names take at most one qualifier; secondary parameters (robot, backend, checkpoint, ...) stay ROS launch arguments — `pixi run sim-piano robot:=prime policy:=latest`, never `sim-prime-piano-latest` — so a robot x task x backend x policy matrix can't explode into task names. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
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Docs-site side of the workspace interface protocol (companions: Berkeley-Humanoids/humanoid_control#16, Berkeley-Humanoids/Lite-Deployment#1).
how_to/use_pixi_tasks.mdrewritten as "Workspace commands (pixi tasks + hc)": the three-level model (lifecycle tasks / packagedhctoolbox / scenario tasks), the one-command day-one ritual (pixi run buildwith the cachedsetupchain), argument forwarding, and a decision rule for adding new commands.launch-mujoco/launch-real/launch-policy→sim/real/policy;visualize/view→hc viz urdf;ros2 run humanoid_control_cli hc …→hc …(the CLI now installs abin/shim and is onPATH); droppedlaunch-policy-trackingmentions.pixi run setup(fixes the stalebar.repospath), step 4 notes thepixi run buildequivalence and theconfig/colcon-defaults.yamlstyle-flag split, addspixi run doctor.humanoid_control_clidescribed as the packaged product toolbox with its scope rule (fixes the leftoverbar <verb>wording).No local build (no Node here) — relying on CI for the Docusaurus/MDX check; all edits keep angle brackets and braces inside code spans.
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