feat(agibot-x2): Tier 1 obstacle-avoidance nav — MuJoCo + Webots Sim-to-Sim - #63
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- Result-gated settlement: success only when both simulators independently confirm target reached without collision - Shared potential-field policy drives both simulators identically - Persistent replay store, reject-before-actuation contract validation - Collision-primitive MJCF model (vendor mesh assets unavailable at submission time; see docs/README.md) - 23 automated tests, plus manual verification with real simulators (collision-safety, replay/duplicate protection)
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Summary
Adds an AgiBot X2 Tier 1 RoboPay bridge for obstacle-avoidance navigation, validated independently in two simulators (MuJoCo + Webots) per the Tier 1 Sim-to-Sim requirement.
Design
settlementEligible=trueonly when both MuJoCo and Webots independently reportreached_target=true, collided=false. A single-simulator success, disagreement, collision, or timeout is alwayserror/not settlement-eligible.bridge/policy/obstacle_avoid_policy.py) drives both simulators identically, so a Sim-to-Sim disagreement reflects a genuine physics discrepancy rather than two different controllers.actionId/idempotencyKey/payment authorization is rejected without re-executing (verified live: 0.108s vs full simulator run).paramsHash, unverified/settled/expired/mismatched payment).Mesh assets
Vendor mesh assets were not fetchable at submission time from either upstream source (
ioai-tech/robot_descriptionLFS returns 404;AgiBotTech/genie_simLFS budget exceeded — both reproducible, not local issues).x2_primitives.xmlpreserves the vendor kinematic chain (link/joint names and offsets fromrobot_description/mjcf/agibot/x2.xml) with primitive collision geometry instead of mesh. Full rationale and locomotion-abstraction notes indocs/README.md.Validation
tests/test_bridge.py): reject-before-actuation, Sim-to-Sim disagreement (both directions), replay across bridge restart, audit-log privacy.Reviewer evidence
Full run logs, safety-property notes, and reproduction steps in
docs/README.mdunder "Verified evidence" and "Run and test".