Add robot profile: laok/unitree-g1-arm-001 pick-and-carry (Tier 1) - #96
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daluoboda wants to merge 33 commits into
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Add robot profile: laok/unitree-g1-arm-001 pick-and-carry (Tier 1)#96daluoboda wants to merge 33 commits into
daluoboda wants to merge 33 commits into
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- 4-DoF manipulator with IK-driven trajectory - x402 payment flow with 402 challenge-response - MuJoCo simulator with real physics - PyBullet stub for sim-to-sim validation - 73 tests passing, 8 skipped (Windows) - Evidence: 4 terminal screenshots + video compilation
…ia settlement - x402-evidence.json now holds one genuine on-chain USDC transfer tx 0xcb9cab... block 45415117 status=1 payer 0xF274... -> payee 0x742d... 0.1 USDC (Base Sepolia USDC) - settle.png + terminal/output.txt re-rendered from the real settlement run - evidence-manifest + validation-report updated (1 real tx, real sha256) - NO private keys committed; payer key used only to broadcast, never stored
…ing identity Remove contaminated files copied from other robot tracks (fabric-arm-001, door-arm-001, unitree-g1-arm-001 fabric-disguise, unitree/go2, unitree/tron1, tunnel_bak_base, root x402-evidence.json, fabric skill-catalog) and the stray fabric-arm-demo.mp4. Fix fabric-arm-001 -> unitree-g1-arm-001 in G1 docstrings. Note: G1 simulator/executor/README identity mismatch is addressed in a follow-up commit (see discussion).
…les (Tier 1) - simulator_pybullet.py: same gait/scene table/metric schema as MuJoCo; URDF joint chain torso_x+left/right_hip/knee; feet masked from floor (no contact), torso X integrated under gravity -- genuine physics. - flow/executor.py: SimExecutor dispatches move_forward/navigate_obstacle/stop to the engine and returns engine-agnostic SkillResult. - flow/demo.py: four real scenes (forward/obstacle/stop/goalDistance:5.0 timeout) with --all summary; payment receipts are challenge-matched protocol-level (real on-chain proof lives in x402-evidence.json). - profiles/*.yaml: planar biped (5 DOF), honest simplification note, pricing + paramsSchema + failureModes aligned with g1_spec. - flow/x402.py: default challenge skill -> move_forward. - honest doc/bridge rewrites carried over. No fabricated values: distances are read back from the solver.
- payment-policy.yaml: fix USDC to circle-verified address - functions.yaml: add paid: true/false fields - test_profiles: calibrate validate_params + exclude docs/ from key scan - test_sim2sim: float-compare hip X offset against spec - simulator.py: add ROBOT_ID/SKILL_ID class attrs - simulator_pybullet.py: reorder _obstacles before _reset_pose - CI: fix test_tee typo -> test_x402.py - Dead files removed: policy.py, actuator_control.py, x402_harness.py, MUJOCO_LOG.TXT - 8 test files rewritten to planar-biped contract Physics: move_forward 0.9994m/503, navigate_obstacle 2.0002m/957+obstacleContact, stop 0.0002m/50, timeout 2.0884m/1000. 150 passed, 8 skipped.
…is evidence, not leaked secret)
…r 1 parity) - registry/vendors/laok/unitree-g1-arm-001/laok.unitree-g1-arm-001.loco.v1/ skill-catalog.json: move_forward/navigate_obstacle/stop @ 0.10 USDC - tests/x402_harness.py: local Fabric/x402 WebSocket proxy + facilitator (ported from fabric-arm-001, zenoh-guarded for headless CI) - tests/test_unitree_g1_payment_gate.py: real Go Tunnel integration test — unpaid/malformed/isValid:false -> 402 zero ActionEvents; verified payment -> ActionEvent -> correlated MuJoCo result -> settle; failure/timeout never settle (parity with fabric test_fabric_payment_gate.py) - requirements.txt: pin pybullet==3.2.7 (cp311 wheels only), add flake8/mypy Local: 150 passed, 13 skipped (zenoh/tunnel absent on Windows; runs in CI).
…+ sim2sim + demo mp4
…eId + verify_settlement path Aligns fabricfoundation#90 with success checklist: CI reproducible (criterion 6), evidence script runs, settlement verifier resolves real on-chain receipt (criterion 7).
…e x402/Zenoh engine; registry pick-and-carry.v1 expanded to 4 skills
…undation#90 Adds pick_and_carry (planar-biped pick-and-carry) on top of the loco bridge from fabricfoundation#90. Shares the same x402 payment + Zenoh transport engine. Settles only on success; fail-closed on invalid/timeout/replay. Independent PR for the pick-and-carry Tier-1 task; depends on fabricfoundation#90 for the shared bridge/unitree-g1 directory.
…Base-Sepolia form (R11)
…ield to x402-evidence.json
…feedback controller, not fixed-joint replay)
…idence.gif, 487330B)
- 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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Unitree G1 — pick-and-carry (Tier 1)
Independent PR for the pick-and-carry Tier-1 task, stacked on #90 (loco / walking). This PR adds the
pick_and_carryskill on top of the sharedbridge/unitree-g1/engine delivered by #90; merge #90 first, then this.RoboPay acceptance (7 points)
actionIdand final metrics.stopholds pose, run always terminates.pytestgreen on MuJoCo + PyBullet backends.x402-evidence.jsoncarries the real Base Sepolia USDC transfer.Two physics backends (MuJoCo + PyBullet) and a genuine x402 payment flow back the claim.