Add robot profile: laok/unitree-g1-arm-001/balance-recover.v1 (Tier 1) - #97
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daluoboda wants to merge 26 commits into
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Add robot profile: laok/unitree-g1-arm-001/balance-recover.v1 (Tier 1)#97daluoboda wants to merge 26 commits into
daluoboda wants to merge 26 commits into
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Pay-to-Actuate Tier 1 for the unitree-g1 humanoid: balance-recover (anti-push recovery). Two skills (balance_recover + stop), on-success-only 0.10 USDC. Real physics: an inverted-pendulum torso_pitch DOF fought by a torque-limited balance PD whose cap sits BELOW the peak gravity torque, so a hard push genuinely topples the robot (no settlement) while a gentle push is caught (settlement). MuJoCo + PyBullet agree on the recover/fall verdict. All 7 acceptance criteria met; x402-evidence.json carries real Base Sepolia settlement txs.
…ent gate (generic)
…Base-Sepolia form (R11)
…9b72c408f for balance_recover
…feedback controller, not fixed-joint replay)
…vidence.gif, 136301B)
- 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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Tier 1 Pay-to-Actuate for the unitree-g1 humanoid: balance-recover (push-disturbance recovery).
Independent of feat(unitree-g1): Tier 1 humanoid walker with x402 payment #90 (based on upstream main).