[wlgys8]

Summary

• Add the standard G1 WBT export → artifact → ONNX → motrix-deploy pipeline and a simulation recipe.
• Make physical preparation and normal stopping task-owned; control executes generic task-labelled transitions. Faults bypass graceful motion and retain backend cleanup.
• Use software PD at every physics substep in both simulators, with one deadline scheduler per runtime and no overrun aggregation.
• Use measured base IMU plus waist FK for torso attitude; avoid motion-state injection and privileged body-height termination.
• Separate backend-supported state capabilities from optional sensor bindings; unbound optional fields remain None without ground-truth fallback.

Validation

• 563 deployment tests passed across core, tasks, MuJoCo and MotrixSim.
• prek run --all-files passed (copyright, license, dprint, Ruff lint/format).
• Both backends completed 999 policy ticks / 19.98 simulated seconds plus 0.3 s task damping exit through the standard CLI.
• Policy traces remained unchanged after lifecycle simplification; native viewer pacing was also verified.

Limits

• Conservative default physical preparation still fails; experimentally tuned capture windows are narrow, not robust standing/arming controllers.
• No training or hardware communication/actuation was performed. Existing Go2 hardware enable/lie-down behavior is unchanged; G1 hardware remains unsupported.
• Checkpoints and local rollout logs are excluded from this PR. The compiler-validated G1 dance artifact (artifacts/g1-wbt-dance.deploy/) is intentionally committed as the recipe's default model export, which is why /artifacts/ was removed from .gitignore.
• Removes rollout overrun statistics and defines state_fields as backend-supported fields independently of wiring.

[Copilot]

🔵 Needs a closer look

It is a broad, cross-package refactor of the public deploy runtime contract plus a complex new multi-phase task and committed binary artifacts, which warrants final human review.

2 open findings

• Committed artifact contradicts PR scope and .gitignore change · New
• Hard-coded action size should derive from robot joint count · New

What changed in this PR

This PR adds a complete, task-owned physical-deployment path for the G1 whole-body-tracking (WBT) "dance" task and, in doing so, restructures the motrix_deploy runtime contract. The deployment framework moves from a policy-centric loop (PolicyContext/PolicyRuntime/DeployTask.build_observation) to a Controller-based lifecycle: DeployTask becomes an abstract Controller (reset(state)/step(state, context)->ControllerStep/request_stop/validate_command + default_duration_s), observation/action/termination logic moves into a reusable PolicyProcessor wrapped by PolicyController, and ControlSession/Runtime own scheduling, I/O, cleanup and result reporting. The new G1WbtDeployTask orchestrates prepare → policy-hold → playback → damping phases itself, and a new profile compiler emits the G1 artifact (embedded motion NPZ payload, firmer standing-hold gains, hardware-observable termination thresholds).

Changes:

• Rename and restructure core deploy abstractions (PolicyRuntime→Policy, PolicyContext→ControlContext with dt_s, Go2WalkDeployTaskV1→Go2WalkDeployTask, bind_control_session/run(control, steps=...)→bind_session/run()), making DeployTask a complete task-owned controller.
• Add the G1 WBT deployment profile compiler, task spec/payload pipeline, sim.yaml recipe, and software-PD simulation runtime accounting (policy_simulation_time_s/real_time_factor).
• Separate backend-supported state capabilities from optional sensor bindings (unbound optional fields stay None); drop privileged body-height termination and the committed artifact's /artifacts/ gitignore entry.

File	Description
motrix_envs/​src/​motrix_envs/​deploy/​g1_wbt.py	New G1 WBT profile compiler: builds task spec, motion NPZ payload, and DeploymentProfile.
motrix_envs/​src/​motrix_envs/​deploy/​__init__.py	Imports g1_wbt for registration side-effect (correctly commented).
motrix_envs/​src/​motrix_envs/​deploy/​go2_walk.py	Drops removed termination_min_base_height field.
motrix_rl/​src/​motrix_rl/​deploy/​service.py	Writes profile.payloads into the exported artifact alongside the ONNX model.
motrix_rl/​src/​motrix_rl/​deploy/​source_rollout.py	Applies OnnxPolicyRuntime→OnnxPolicy rename.
motrix_rl/​tests/​test_deploy_export.py	Updates test task fixture to the new reset(state)/step/request_stop contract.
motrix_deploy/​tests/​test_task_plugins.py	Adds session-controller loading/execution tests for the new create_task(spec, robot, policy, steps) signature.
motrix_deploy/​tests/​test_simulation_runtime.py	Updates runtime fixture to new advance_control_period/_physics_time_s/run() interface.
motrix_deploy/​tests/​test_simulation_config.py	New tests for simulation scene/timing/sensor-binding recipe decoding.
motrix_deploy/​tests/​test_runtime_binding.py	Updates runtime-binding tests for the new session API.
wiki/​design/​deploy-command-input.md	Updates design doc to the ControlContext/ControlSession/PolicyController naming.
motrix_deploy_tasks/​.../​g1-wbt-dance/​sim.yaml + committed artifact + .gitignore	New default recipe pointing at a committed artifacts/g1-wbt-dance.deploy/ artifact.

🧠 Review effort: Balanced

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[Copilot]

🔵 Needs a closer look

This is a large cross-cutting deployment-runtime refactor and it contains a concrete export-blocking defect (the manifest omits task payloads), so it needs human review and fixes before approval.

1 open finding

• Exported manifest omits declared task payloads · New

2 resolved since last review

• Committed artifact contradicts PR scope and .gitignore change
• Hard-coded action size should derive from robot joint count

🧠 Review effort: Balanced

[Copilot]

🔵 Needs a closer look

It is a broad control-plane refactor spanning multiple packages and both simulation backends, with a committed binary artifact and hardware-adjacent contracts that warrant final human verification.

1 open finding

• Deploy step references the wrong exported artifact name · New

1 resolved since last review

• Exported manifest omits declared task payloads

🧠 Review effort: Balanced