# Roll out a policy

Give a trained policy supervised control of Sourccey for a short test.

Execution context: Controller computer; robot host must be prepared separately.

> Verification pending: existing website examples have not completed a pinned-source or physical-hardware walkthrough. Confirm software version, hardware revision, and actual stopping procedure. Do not assume emergency-stop or release-to-stop behavior. Explicit human approval and supervision are required before physical movement.

## Before rollout

- Clear the full workspace.
- Keep the emergency stop within reach.
- Start sourccey-host on the robot computer.
- Supervise the entire run.
- Begin with a 30-second duration.

## Run the policy

Run this on the controller. The task text, camera names, and action features must match the training dataset.

```shell
uv run lerobot-rollout --strategy.type=base --policy.path=outputs/train/act-sourccey-demo-1/checkpoints/last/pretrained_model --robot.type=sourccey_client --robot.id=sourccey --robot.remote_ip=192.168.1.243 --task="Fold the shirt" --duration=30 --fps=30 --device=cuda --display_data=true
```

## Extend safely

- The robot responds smoothly.
- It remains inside the expected workspace.
- It stops after 30 seconds.
- No feature-shape or camera errors occur.

Increase duration only after repeated short rollouts behave safely.

Website: https://vulcanrobotics.ai/docs/lerobot/rollout

Upstream reference (unpinned): https://github.com/vulcan-forge/lerobot-vulcan/blob/main/docs/sourccey/06-rollout.md