Add robot profile: boston-dynamics/atlas/boston-dynamics.atlas-drc.mujoco-webots-wave.v1

[RobotDeveloper1]

Summary

Adds a simulator-only Tier 1 profile for the legacy hydraulic Boston Dynamics Atlas DRC/v4.

• paid x402 action -> production Go Tunnel -> Zenoh ActionEvent -> measured-state MuJoCo wave -> correlated result -> deferred Base Sepolia settlement
• independent Webots R2025a execution of the same bounded turning-point policy
• mandatory regression coverage for invalid-payment fail-closed behavior, real MuJoCo, Webots Sim-to-Sim, paid stop, failure/timeout/replay non-settlement, and WebSocket continuation frames

Model identity and electric Atlas boundary

This profile intentionally models the legacy hydraulic Atlas DRC/v4; it is not the current electric Atlas.

• The public DRC/v4 URDF used here exposes 30 movable one-DoF joints.
• Boston Dynamics documents the electric Atlas as a 56-DoF platform with continuous/full-rotation joints.
• No public official electric Atlas URDF/USD or joint schema was found, so this PR makes no joint-index, controller, or policy compatibility claim between DRC/v4 and electric Atlas.
• The public Isaac Sim 5.1 robot catalog lists Boston Dynamics Spot, but not Atlas.

References: Atlas product page, electric Atlas announcement, Atlas specification sheet, Isaac Sim 5.1 robot assets.

Validation

• MuJoCo: 4/4 half-waves, measured right-arm stroke 0.65003 rad.
• Webots R2025a: 4/4 half-waves, measured stroke 0.55761 rad, stable.
• MuJoCo <-> Webots Sim-to-Sim score: 1.0.
• Facilitator verification returning isValid: false: HTTP 402, zero ActionEvents, zero simulator state change, zero settlement calls.
• First paid action succeeds after a clean cold start without a warm-up action.
• Paid stop is correlated and settled; execution failure, timeout, and replay do not settle.

Current-HEAD live evidence

• Recorded source commit: 184c06a
• Evidence-binding HEAD: 9adef12 (evidence/docs/assertion only; runtime and simulator files are unchanged from the recorded commit)
• Action ID: atlas-wave-1787284097
• Base Sepolia transaction: 0x2435125b61c5e003671316111a34aa063cf5e2c4694c135f55b967e08e27777c
• Recording SHA-256: 6f004724c9c48df34be62785c0ac7ed148464d9c379d09dd3097fea8f6b58f01
• Trusted JSON artifact: bridge/boston_dynamics/atlas_drc_bridge/artifacts/base_sepolia_result_1787284145.json
• Committed trusted JSON SHA-256: 459756fbc6d3fe7a2eab16af0782545db6915de5ffaf0c4ed3b3d0489aa7b249
• Raw runner JSON SHA-256: 807e24bdf8d8171c2382ab5c7e2646a08e7bb372f86fdf46facaa2131e77176d

The recording below keeps the terminal and full MuJoCo viewer visible throughout the cold-start paid action, then shows the matching BaseScan success page.

2026-08-21.00-48-13.mp4