feat(deploy): G1 WBT task-owned physical deployment

.gitignore

@@ -1,7 +1,6 @@
 __pycache__
 runs
 outputs
-/artifacts/
 .pdm-python
 logs
 .idea

AGENTS.md

@@ -61,6 +61,16 @@ Review 或修改 initializer 时：
 - 检查仓库使用方、文档、环境/插件注册和 import 环风险；
 - 清理后验证 package import 与注册行为。
 
+### Package README
+
+README 从宏观上说明 package：它提供什么能力、如何安装与使用、以及该 package 特有的契约与边界。不要把 README
+写成实现文档——内部数值（增益、维度、阈值列表）、actor 数学公式、逐字段契约说明、调度器/时钟语义等应留在代码、
+设计文档（`wiki/`）或用户教程（`docs/`）中，README 最多以一两句话概括并链接过去。不要叙述修改历史、调试过程或
+对旧实现/历史报告作辩护。
+
+框架级契约（Runtime/ControlSession/Controller 语义、rollout result 口径等）只在一处维护——对应框架 package 的
+README 或教程；插件与任务 package 的 README 不重复这些内容，只描述本 package 特有的部分。
+
 ### Manager Kernel 入口方法
 
 Manager fused-kernel 入口方法必须用 `@dispatch` 装饰，绝不使用 `@njit`——Numba 编译、缓存和内联由 manager

artifacts/g1-wbt-dance.deploy/manifest.json

@@ -0,0 +1,371 @@
+{
+  "control": {
+    "angular_velocity_frame": "body",
+    "base_orientation": "body_to_world",
+    "mode": "joint_servo",
+    "period_s": 0.02,
+    "quaternion_order": "xyzw",
+    "state_timeout_s": 0.1
+  },
+  "payloads": [
+    {
+      "path": "payloads/motion.npz",
+      "sha256": "5dec09a5d1b0e37f98ea05002eb95194750422254d2bb0558a01a25a9387725a"
+    }
+  ],
+  "policy": {
+    "component_version": "onnx/v1",
+    "input": {
+      "dtype": "float32",
+      "name": "obs",
+      "shape": [
+        1,
+        154
+      ]
+    },
+    "output": {
+      "dtype": "float32",
+      "name": "actions",
+      "shape": [
+        1,
+        29
+      ]
+    },
+    "payload_path": "policy/model.onnx",
+    "sha256": "47d53c5e0126c7891765ecc7c962572a4eccffc939427bf7e8be65f475f156ba"
+  },
+  "robot": {
+    "base_link_name": "pelvis",
+    "default_joint_position": [
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+      "left_hip_pitch_joint",
+      "left_hip_roll_joint",
+      "left_hip_yaw_joint",
+      "left_knee_joint",
+      "left_ankle_pitch_joint",
+      "left_ankle_roll_joint",
+      "right_hip_pitch_joint",
+      "right_hip_roll_joint",
+      "right_hip_yaw_joint",
+      "right_knee_joint",
+      "right_ankle_pitch_joint",
+      "right_ankle_roll_joint",
+      "waist_yaw_joint",
+      "waist_roll_joint",
+      "waist_pitch_joint",
+      "left_shoulder_pitch_joint",
+      "left_shoulder_roll_joint",
+      "left_shoulder_yaw_joint",
+      "left_elbow_joint",
+      "left_wrist_roll_joint",
+      "left_wrist_pitch_joint",
+      "left_wrist_yaw_joint",
+      "right_shoulder_pitch_joint",
+      "right_shoulder_roll_joint",
+      "right_shoulder_yaw_joint",
+      "right_elbow_joint",
+      "right_wrist_roll_joint",
+      "right_wrist_pitch_joint",
+      "right_wrist_yaw_joint"
+    ],
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+    "position_upper": [
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+    "torque_limit": [
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+  },
+  "schema_version": "motrix-deploy/v1",
+  "source": {
+    "checkpoint": "checkpoints/latest.pt",
+    "framework": "motrix.fastsac/torch",
+    "run_id": "26-10-07_21-28-43-758744"
+  },
+  "task": {
+    "config": {
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+    "name": "g1_wbt/v1"
+  }
+}