Deploy a policy to your robot

This guide puts one of your policies on a robot you connected, for a few minutes, and stops it. A person approves every run. How approvals keep your robot safe explains why it works this way.

You need a policy, such as the one from the tutorial. You also need a robot of the kind it was trained for.

1 · Connect the robot

On the robot's page, open Deploy → Connect a robot.

1. On the robot's computer. The page shows a short code, valid for ten minutes. It also shows the lines to paste there: the driver's installer, the PATH line, lucen-device pair with your code, and lucen-device serve. The robot makes its own key. It never holds an API key. A robot that ships with the driver shows its own code instead; type it on the page.
2. Confirm it is your robot. The page shows what claimed the code: its software, the fail-safe the driver checked, and its key fingerprint. The robot's screen shows the same fingerprint. Name it and press Confirm. Only a signed-in person can do this.
3. Connected. The robot reads Online while lucen-device serve runs on it. It is listed under My robots.

No hardware yet? The driver's built-in virtual robot runs no physics and moves nothing, so you can rehearse the whole path. A real robot needs an adapter of its own: Connect your robot shows how to write one.

2 · Ask to deploy

On the policy's page, press Deploy to robot. Pick an online robot and how long the policy may run: 1, 2, 5 or 10 minutes. After that it stops by itself.

Before you decide, the page shows what the hub checked:

• the robot accepts this policy's inputs and outputs;
• this kind of policy may run on the robot;
• the fail-safe the robot declared;
• the latest sim test of this policy on this robot;
• the policy still matches the robot's current description;
• the file the approval pins, by its checksum.

Deploy stays off while a check fails.

3 · Approve it

Tick the e-stop confirmation, then hold the button until it fills. From the keyboard, press Enter twice. You may shorten the window before you approve.

You'll see the live page. It counts down the window above the robot's signed trail: Approved, Verified, Pulled, Started, then a heartbeat every few seconds. Verified means the robot checked the approval's signature itself. Pulled means it downloaded the file, and the bytes match.

4 · Stop it

Press Stop now on the live page, or STOP beside the robot on My robots. Only a signed-in person can stop a run.

The robot reads the stop on its next heartbeat. It holds still, then stops, and signs a Stopped event. With the virtual test robot, that took under two seconds from the press. The same page is then the record of the run.

An approval runs once. To run the policy again, deploy it again; Redeploy previous on My robots does that with the same file and window.

Disconnect a robot

On My robots, press Disconnect. Its key is revoked at once, and anything it runs is asked to stop. Its history stays, and its name is free to use again.