Add robot profile: booster/k1/laok.k1.active-inspection.v1 (Tier 1)

[daluoboda]

K1 Active Inspection - Independent Implementation

This PR implements the Booster K1 Tier 1 bounty with an independent bridge structure, separate from PR #83.

What this implements

• 6-DOF simplified kinematic model for K1 inspection arm (real closed-form IK)
• Camera-based visual inspection task - camera mounts on wrist, inspects 3 targets (left/center/right) on linear rail
• FOV verification - checks camera-to-target distance (<=0.35m) and angle (<=0.15rad)
• Dual-engine simulator - MuJoCo + PyBullet with sim-to-sim consistency
• Zenoh bridge - fail-closed payment gate, only settles on success
• Full profile contract - robot.profile.yaml, skills.yaml, payment-policy.yaml
• CI workflow - validates structure, runs tests, checks profiles, scans for secrets

7-Acceptance Criteria Checklist

• CI workflow (.github/workflows/k1-arm-001-tier-1.yml)
• Registry/standard package (bridge/k1-001/registry/vendors/laok/k1-001/)
• Evidence (x402-evidence.json with Base Sepolia USDC)
• Chain payment (Tunnel + x402 facilitator)
• Sim-to-sim (MuJoCo + PyBullet dual engine)
• No mock (real physics, real failures)
• Fail-closed (payment only on success)

Key Design Decisions

1. Camera FOV vs contact force: K1 task is visual inspection, not grasping. Verification uses camera alignment metrics instead of contact force thresholds.
2. 6-DOF simplified model: Real K1 has 22 DoF; we collapse to the 6 that matter for inspection trajectory (base_rot, shoulder, elbow, wrist_pitch, wrist_roll, cam_pan).
3. Independent from PR Add robot profile: booster/k1/booster.k1.mujoco-webots-active-inspection.v1 #83: Different branch, different structure, different implementation approach.

Files

bridge/k1-001/
├── arm_spec.py          # 6-DOF kinematic model, IK solver, thresholds
├── simulator.py          # MuJoCo backend
├── simulator_pybullet.py # PyBullet backend (sim-to-sim)
├── bridge.py             # Zenoh bridge + fail-closed payment gate
├── x402-evidence.json    # Payment evidence (Base Sepolia)
├── profiles/             # Profile YAMLs
├── tests/                # 13 test files
└── registry/vendors/laok/k1-001/  # Standard package

Chain Settlement Evidence

• Network: Base Sepolia (testnet)
• Asset: USDC (0x036CbD53842c5426634e7929541eC2318f3dCF7e)
• Payer: 0xF2749b5fAdA8a83d3DE1a2621B1d212e73907D4a
• Payee: 0x742d35Cc6634C0532925a3b844Bc454e4438f44e
• Amount: 0.1 USDC
• Transaction: 0x3efc718a...d1c6
• Settled: true
• Verified: Criterion Add 1 empty line to README #7 independently verified