feat(deep-robotics-x30-pro): Tier 1 obstacle-nav skill - #69
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MuJoCo scene built from the official X30 URDF (legubiao/quadruped_ros2_control) - 12 leg joints (FL/FR/HL/HR x HipX/HipY/Knee) + planar base, real mass/limits. Bridge follows the same fail-closed pattern as my M20 Pro submission: robot/tunnel/action -> robot/tunnel/result, result-gated settlement, SQLite replay guard. 11 passing tests, plus success and timeout demo runs with real evidence in docs/. Includes Sim-to-Sim validation: the same navigation policy runs in both MuJoCo and Webots against the same obstacle/goal layout. PASS on all checks (see docs/evidence/sim_to_sim_validation.json).
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Deep Robotics X30 Pro — Tier 1 (simulator-only)
Adds a complete RoboPay skill profile for the X30 Pro quadruped: MuJoCo scene
built from the official X30 URDF, fail-closed Zenoh bridge
(
robot/tunnel/action->robot/tunnel/result), result-gated settlement,and replay protection.
Note on shared architecture
This reuses the RoboPay bridge/test architecture from my earlier M20 Pro
Tier 1 submission (#68) — both are Deep Robotics quadrupeds under the same
marketplace bounty, so the fail-closed validation, replay guard, and
result-gated settlement logic are intentionally identical (that part isn't
robot-specific). Everything robot-specific — the MuJoCo scene, joint
parameters, gait tuning, and all evidence below — is unique to X30 Pro.
Physical spec provenance
Joint layout, masses, and limits are sourced from the official Deep Robotics
X30 URDF (
legubiao/quadruped_ros2_control), cross-checked against theofficial Deep Robotics spec sheet (59kg / 1000x715x470mm). The URDF's
component masses sum to ~55.8kg excluding battery/electronics, consistent
with the published spec. See
docs/validation-report.mdfor details.Evidence
tests/test_bridge.py)(
docs/evidence/terminal_log.txt,x30_pro_metrics.json)(
docs/evidence/failure_terminal_log.txt,x30_pro_failure_metrics.json)See
docs/README.mdanddocs/validation-report.mdfor full architectureand reviewer verification checklist.