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kuka real-DH serial-arm: sort_and_route (Tier-1) - #109

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daluoboda wants to merge 3 commits into
fabricfoundation:mainfrom
daluoboda:feat/kuka-real-001-tier1
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kuka real-DH serial-arm: sort_and_route (Tier-1)#109
daluoboda wants to merge 3 commits into
fabricfoundation:mainfrom
daluoboda:feat/kuka-real-001-tier1

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RoboPay Tier 1 Bounty: kuka real-DH serial-arm integration.

  • Real MuJoCo physics (gravity, contact, friction, free-body dynamics)
  • Real x402 payment gate + Base Sepolia settlement
  • Evidence manifest: bridge/kuka-real-001/docs/evidence/evidence-manifest.yaml
  • 2D visual recording (real sim FK data): bridge/kuka-real-001/docs/evidence/robopay_evidence.gif
  • Payment-boundary tests in CI: fail-closed 402, no-settle-on-failure, settle-on-success
  • verify_settlement.py proves on-chain Base Sepolia tx independently

Skill: sort_and_route. Head: daluoboda:feat/kuka-real-001-tier1. Base: main.

@daluoboda
daluoboda requested a review from a team August 17, 2026 12:59
- Top badge: ROBO-PAY BOUNTY | PR #N | <robot/skill>
- Bottom panel: commit <sha> | on-chain tx (Base-Sepolia USDC, fail-closed)
              | BaseScan verify link | R11 flow: 402->202+actionId->actuate->settle

R11 continuous-evidence requirement: same recording now shows commit SHA +
current-HEAD tx + BaseScan link. No code, profile, manifest, or tunnel change.
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