docs: eliminate remaining configuration drift

Author: RobotDeveloper1

.github/workflows/ci.yml

@@ -49,7 +49,7 @@ jobs:
       - name: Install Python dependencies
         run: |
           python -m pip install --upgrade pip
-          pip install mujoco==3.10.0 numpy==2.2.6 eclipse-zenoh==1.9.0 x402==2.16.0 eth-account==0.13.7 httpx==0.28.1 web3==7.16.0
+          pip install -r bridge/reachy_mini/mujoco_sim_bridge/requirements.txt
 
       - name: Install reachy_mini package (official MJCF)
         run: |
@@ -142,7 +142,7 @@ jobs:
       - name: Install Python dependencies
         run: |
           python -m pip install --upgrade pip
-          pip install mujoco==3.10.0 numpy==2.2.6 eclipse-zenoh==1.9.0 x402==2.16.0 eth-account==0.13.7 httpx==0.28.1 web3==7.16.0
+          pip install -r bridge/reachy_mini/mujoco_sim_bridge/requirements.txt
 
       - name: Install reachy_mini package
         run: |
@@ -210,7 +210,7 @@ jobs:
           name: webots-sim2sim-result
           path: bridge/reachy_mini/mujoco_sim_bridge/simulation/webots_sim2sim_result.json
           retention-days: 90
-          if-no-files-found: ignore
+          if-no-files-found: error
 
   # ─── Live Base Sepolia E2E (on-chain payment) ────────────────────────────────
   base-sepolia-e2e:
@@ -236,7 +236,7 @@ jobs:
       - name: Install Python dependencies
         run: |
           python -m pip install --upgrade pip
-          pip install mujoco==3.10.0 numpy==2.2.6 eclipse-zenoh==1.9.0 x402==2.16.0 eth-account==0.13.7 httpx==0.28.1 web3==7.16.0
+          pip install -r bridge/reachy_mini/mujoco_sim_bridge/requirements.txt
 
       - name: Install reachy_mini
         run: |
@@ -281,4 +281,4 @@ jobs:
           name: base-sepolia-evidence
           path: bridge/reachy_mini/base_sepolia_result*.json
           retention-days: 90
-          if-no-files-found: ignore
+          if-no-files-found: error

README.md

@@ -139,7 +139,8 @@ tracking. Anything else is rejected before Zenoh publication.
 
 ### Automated CI (`.github/workflows/ci.yml`)
 
-Triggers on push/PR to `hugging-face-reachy-mini-tier-1`:
+Triggers on pushes to `hugging-face-reachy-mini-tier-1` and pull requests
+targeting that branch or `main`:
 
 ```yaml
 jobs:
@@ -234,10 +235,9 @@ Makefile                                  # build, test, download-zenohc, bridge
 mujoco==3.10.0
 numpy==2.2.6
 eclipse-zenoh==1.9.0
-x402==2.16.0
+x402[requests,evm]==2.16.0
 eth-account==0.13.7
-httpx==0.28.1
-web3==7.16.0
+requests==2.32.3
 reachy-mini @ git+https://github.com/pollen-robotics/reachy_mini.git@v1.8.4
 ```
 
@@ -284,11 +284,11 @@ python3 bridge/reachy_mini/test_base_sepolia_tunnel_e2e.py
 | Test | Result | Environment |
 |---|---|---|
 | `make build` | ✅ OK | GitHub Actions, Go 1.25, zenoh-c 1.9.0 |
-| `make test` (23 Go tests) | ✅ ALL PASS | GitHub Actions (ubuntu-latest) |
+| `make test` | ✅ ALL PASS | GitHub Actions (ubuntu-latest) |
 | `test_payment_gate.py` (mandatory) | ✅ OK | GitHub Actions (real Go binary) |
 | `test_x402_no_settlement.py` (mandatory) | ✅ OK — `verify_calls=5 settle_calls=0` | GitHub Actions (real binary + recording facilitator) |
 | `test_e2e_paid_action.py` | ✅ OK | GitHub Actions (local proxy + facilitator) |
-| `test_base_sepolia_tunnel_e2e.py` | ✅ OK (5×) — 202 → status → settled receipt | GitHub Actions → public Fabric Gateway → Base Sepolia |
+| `test_base_sepolia_tunnel_e2e.py` | ✅ OK — 202 → status → settled receipt | GitHub Actions → public Fabric Gateway → Base Sepolia |
 | Sim2Sim standalone | ✅ Score 1.0 | GitHub Actions (MuJoCo 3.10 + Webots R2025a headless) |
 | Webots GUI validation | ✅ Robot tracks | Windows (visual confirmation) |
 
@@ -376,11 +376,11 @@ receipt are durable across tunnel restarts.
 | Issue | Cause | Fix |
 |---|---|---|
 | `zenoh` connection refused | Endpoint or topic mismatch | Set `ZENOH_CONFIG`/`ZENOH_ENDPOINT` and keep `ZENOH_ACTION_TOPIC`/`ZENOH_RESULT_TOPIC` aligned between Tunnel and bridge |
-| `ModuleNotFoundError: reachy_mini` | Official model package not installed | `pip install reachy_mini` (fallback MJCF still works without it) |
-| Webots not found (sim2sim fails) | Webots not on PATH | Set `WEBOTS_EXE=/path/to/webots` or install Webots R2023b+ |
+| `ModuleNotFoundError: reachy_mini` | Official model package not installed | `pip install git+https://github.com/pollen-robotics/reachy_mini.git@v1.8.4` |
+| Webots not found (sim2sim fails) | Webots not on PATH | Set `WEBOTS_EXE=/path/to/webots` or install Webots R2025a |
 | `make build` fails on zenoh-c | Missing C library | Run `make download-zenohc` first (auto-downloads v1.9.0) |
 | `402` on every request | No payment signature attached | Use `test_e2e_paid_action.py` for local testing without real funds |
-| Status stuck on `timeout` (`SIMULATOR_RESULT_TIMEOUT`) | Bridge not running or Zenoh not connected | Start bridge first: `python -m mujoco_sim_bridge.main` |
+| Status stuck on `timeout` (`SIMULATOR_RESULT_TIMEOUT`) | Bridge not running or Zenoh not connected | Start bridge first: `python bridge/reachy_mini/mujoco_sim_bridge/main.py` |
 | `RATE_LIMITED` (429) | Over 60 requests/minute from same IP | Wait 60s or increase `ACTION_RATE_LIMIT_RPM` |
 
 ---

bridge/reachy_mini/README.md

@@ -84,5 +84,5 @@ python3 test_payment_gate.py
 
 Pinned in `mujoco_sim_bridge/requirements.txt` (same versions as CI):
 Python 3.10, `mujoco==3.10.0`, `numpy==2.2.6`, `eclipse-zenoh==1.9.0`,
-`x402==2.16.0`, `eth-account==0.13.7`, `httpx==0.28.1`, `web3==7.16.0`,
+`x402[requests,evm]==2.16.0`, `eth-account==0.13.7`, `requests==2.32.3`,
 `reachy_mini` from git tag `v1.8.4`, Webots R2025a (for sim2sim).

bridge/reachy_mini/mujoco_sim_bridge/requirements.txt

@@ -6,6 +6,4 @@ numpy==2.2.6
 eclipse-zenoh==1.9.0
 x402[requests,evm]==2.16.0
 eth-account==0.13.7
-httpx==0.28.1
-web3==7.16.0
-pydantic>=2.0.0
+requests==2.32.3

bridge/reachy_mini/mujoco_sim_bridge/simulation/scenes/protos/reachy_mini.proto

@@ -2,7 +2,7 @@
 # license: Apache License 2.0
 # license url: http://www.apache.org/licenses/LICENSE-2.0
 # This is a proto file for Webots for the reachy_mini
-# Extracted from: C:\Users\Kauker\AppData\Local\Programs\Python\Python312\Lib\site-packages\reachy_mini\descriptions\reachy_mini\urdf\robot_patched_for_webots.urdf
+# Extracted from the pinned reachy_mini v1.8.4 package URDF: robot_patched_for_webots.urdf
 
 PROTO reachy_mini [
   field  SFVec3f     translation     0 0 0

bridge/reachy_mini/mujoco_sim_bridge/simulation/scenes/protos/reachy_mini_simple.proto

@@ -2,7 +2,7 @@
 # license: Apache License 2.0
 # license url: http://www.apache.org/licenses/LICENSE-2.0
 # This is a proto file for Webots for the reachy_mini_simple
-# Extracted from: C:\Users\Kauker\AppData\Local\Programs\Python\Python312\Lib\site-packages\reachy_mini\descriptions\reachy_mini\urdf\robot_simple_collision_patched.urdf
+# Extracted from the pinned reachy_mini v1.8.4 package URDF: robot_simple_collision_patched.urdf
 
 PROTO reachy_mini_simple [
   field  SFVec3f     translation     0 0 0

bridge/reachy_mini/mujoco_sim_bridge/simulation/sim2sim.py

@@ -134,7 +134,7 @@ def _run_webots_subprocess(self) -> dict:
                 "task_completed": False,
                 "success_rate_score": 0.0,
                 "error": (
-                    "Webots executable not found. Install Webots R2023b+ and either "
+                    "Webots executable not found. Install Webots R2025a and either "
                     "add it to PATH or set WEBOTS_EXE=/path/to/webots. "
                     "Sim-to-Sim validation REQUIRES a real second physics engine."
                 ),

tunnel/.env.example

@@ -5,7 +5,7 @@ PROXY_WS_URL=wss://api.fabric.foundation/api/core/ws/robot
 FACILITATOR_URL=https://x402.org/facilitator
 # Robot-specific deployment values override the generic local config.json.
 # Never put private keys here; the payee is a public wallet address.
-# ROBOT_ID=reachy-mini-kauker
+# ROBOT_ID=my-robot
 # ROBO_PAYEE_ADDRESS=0xYourPublicPayeeAddress
 # ROBO_PAY_PRICE=$0.001
 # ROBO_PAY_NETWORK=eip155:84532
@@ -22,7 +22,7 @@ CHAIN=base-sepolia
 # ── Action contract (fail closed) ────────────────────────────────────
 # Comma-separated skill allowlist. REQUIRED: when unset or empty the Tunnel
 # fails closed with 503 ALLOWLIST_NOT_CONFIGURED and publishes no action.
-# ALLOWED_ACTIONS=look_at_apple,inspect_table,stop
+# ALLOWED_ACTIONS=registered_skill_id
 
 # Zenoh transport overrides. The JSON5 file configures endpoint/mode; topic
 # variables keep deployments from depending on the documented defaults.

tunnel/config/config.go

@@ -48,7 +48,7 @@ type Config struct {
 	AIPLocalPort     int    `json:"-"` // localhost port the SDK binds for its (tunnel-bypassed) listener
 }
 
-// PriceAmount returns the numeric value of the configured price ("$0.002" → 0.002).
+// PriceAmount returns the numeric value of the configured price ("$0.001" → 0.001).
 func (c *Config) PriceAmount() float64 {
 	v, err := strconv.ParseFloat(strings.TrimPrefix(c.Price, "$"), 64)
 	if err != nil {