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name: deployment-and-robots description: "Export ProtoMotions trackers, validate deployment input contracts, test MuJoCo deployment, and add or troubleshoot robot assets." disable-model-invocation: true metadata: disco-role: operating license: Apache 2.0

ProtoMotions deployment and robots

Use this sub-skill for G1 deployment tracker workflows, ONNX export, standalone MuJoCo validation, tracker input semantics, real-robot integration cautions, custom robot configs, MJCF/USD conversion, and cross-simulator robot issues.

Read first

• references/deployment-contract.md: ONNX tracker inputs, frame conventions, MuJoCo validation, and real-robot safety.
• references/onnx-export.md: export artifact roles and checkpoint/config requirements.
• references/custom-robots-and-assets.md: adding robots, asset requirements, MJCF/USD, and factory registration.
• references/troubleshooting.md: deployment, input-frame, robot asset, and simulator migration failures.
• scripts/inspect_tracker_yaml.py: summarize a deployment YAML sidecar.
• scripts/tracker_alignment_smoke.py: pure NumPy smoke for the heading/reference alignment contract.

Deployment action pattern

1. Verify the checkpoint directory includes resolved_configs_inference.pt or an accepted fallback config.
2. Export the policy to unified_pipeline.onnx plus unified_pipeline.yaml using a CPU-capable environment with PyTorch and ProtoMotions; no simulator should be needed for export.
3. Inspect YAML input/output metadata before wiring a deployment framework.
4. Validate in standalone MuJoCo before real hardware.
5. Preserve heading alignment, root-local angular velocity frame, action post-processing, acceleration clamp, EMA action filter, and PD target semantics.
6. Require explicit human approval and safety procedures for real robot execution.

Custom robot action pattern

1. Provide MJCF as the source-of-truth robot asset.
2. Define robot config: body-name mappings, trackable body subset, asset config, default root height, PD controls, and per-simulator params.
3. Register the robot name in the factory.
4. Run factory/config smokes before simulator instantiation.
5. Validate in a random-pose or simple simulation check before training.
6. For IsaacLab, handle MJCF-to-USD conversion and D6 workaround behavior carefully.

Non-negotiable safety

Real-robot deployment can cause unsafe physical motion. Never skip MuJoCo validation, PD/action post-processing checks, emergency-stop verification, or human authorization when moving from simulation to hardware.