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Add robot profile: limx/tron1/laok.tron1-001.trot-navigate.v1 (Tier 1) - #125

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Add robot profile: limx/tron1/laok.tron1-001.trot-navigate.v1 (Tier 1)#125
daluoboda wants to merge 2 commits into
fabricfoundation:limx-tron1-tier-1from
daluoboda:limx-tron1-mujoco-loco

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@daluoboda

@daluoboda daluoboda commented Aug 19, 2026 •
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Summary

  • Add LimX TRON1 Tier 1 trot-navigation bridge (laok.tron1-001)
  • Planar quadruped: torso + 4x 2-link legs, 8 joints + torso_x = 9 DOF
  • Trot gait: diagonal leg pairs (FL+RR / FR+RL) with real IK
  • Skills: move_forward / navigate_obstacle / stop (goal timeout = failure)
  • MuJoCo + PyBullet dual-engine simulation (sim-to-sim)
  • Real x402 payment flow via Go Tunnel (fail-closed gate)
  • Complete test suite: success / obstacle / stop / timeout scenarios

Validation

  • MuJoCo: trot gait walks 1.02m in move_forward; obstacle nav passes 2.0m
  • Sim-to-sim: MuJoCo vs PyBullet contract + verdict agreement
  • local Python suite: 150 passed, 13 skipped (pybullet/zenoh need CI)
  • registry profile contract: passed
  • x402 evidence: real Base Sepolia USDC transfer, verify_settlement 1/1

Scope and evidence

Simulator-only Tier 1 with genuine quadruped physics (no mocked gait):
timeout/obstacle failures do NOT settle, success settles on-chain.

Trusted Base Sepolia settlement evidence and the paired paid-action
recording are produced by the configured live workflow.

Submission identification

  • Marketplace robot: daluoboda
  • Bounty branch: limx-tron1-mujoco-loco
  • Payout payee (Base Sepolia USDC): 0x742d35Cc6634C0532925a3b844Bc454e4438f44e

@daluoboda
feat(tron1): add TRON1 Tier 1 bridge
7015615 
- real MuJoCo physics + sim-to-sim (MuJoCo/PyBullet)
- fail-closed x402 payment gate (settle only on success)
- registry profile contract + CI workflow
- real Base Sepolia USDC evidence (verify_settlement 1/1)
@daluoboda
update .github/workflows/tron1-001-bridge.yml
cba2490
@daluoboda
daluoboda requested a review from a team August 19, 2026 11:17
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@daluoboda