Unitree G1 Tier 1 — MuJoCo loco + real x402 + R11 evidence - #113
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daluoboda wants to merge 11 commits into
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Unitree G1 Tier 1 — MuJoCo loco + real x402 + R11 evidence#113daluoboda wants to merge 11 commits into
daluoboda wants to merge 11 commits into
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… continuous evidence Rebased onto official unitree-g1-tier-1 (d70218c), superseding the wrong-base PR fabricfoundation#90. Submitted under bridge/unitree/g1/mujoco_loco/ (no clobber of isaac_sim_bridge skeleton). - Real MuJoCo planar-biped gait, policy/state-machine triggered (not replay) - Measurable simulator metrics: CoM displacement, foot contacts, collision status - Sim-to-Sim validation included - Real x402 payment via Go Tunnel + facilitator; Base Sepolia USDC settle - x402-evidence.json real on-chain tx (payer 0xF274... -> payee 0x742d...) - R11 continuous uncut recording (terminal + MuJoCo viewer same-frame)
… (replace reused fabricfoundation#90 tx)
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Unitree G1 · Tier 1 — Simulator Skill Execution (MuJoCo, policy-driven)
Rebased onto the official
unitree-g1-tier-1branch (supersedes the earlier wrong-base PR #90, which targetedmain). Submission underbridge/unitree/g1/mujoco_loco/.Success-criteria coverage (Tier 1)
docs/evidence/sim_to_sim_validation.json)x402-evidence.json— real on-chain tx0x8a22cc4f62742d743564a4c416a94f0c140da2115593372a436101c6e24cf46e(block 45640145, payer0xF274…→ payee0x742d…)R11 continuous evidence (uncut, same-frame)
r11/unitree-g1_t1_uncut.gif— one continuous take, terminal + MuJoCo viewer in frame:402 unpaid (idle) → 202 + action_id (paid) → policy-driven gait → terminal result → BaseScan settle.Commit SHA / action_id / tx overlaid throughout.
Submission identification
daluobodaunitree-g1-tier-10x742d35Cc6634C0532925a3b844Bc454e4438f44eRun:
python r11_capture.py(inbridge/unitree/g1/mujoco_loco/).