feat(limx-tron1): Tier 1 obstacle-nav skill - #71
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MuJoCo scene for the wheeled-biped LimX TRON1: 2 legs (hip-knee-wheel each) + planar base, mass 14kg, live-computed rolling gait (wheel spin proportional to commanded velocity, not a canned trajectory). Bridge follows the same fail-closed pattern as my Deep Robotics submissions: robot/tunnel/action -> robot/tunnel/result, result-gated settlement, SQLite replay guard. 11 passing tests, plus success and timeout demo runs with real evidence. 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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LimX TRON1 — Tier 1 (simulator-only)
Adds a complete RoboPay skill profile for the TRON1 wheeled-biped robot:
MuJoCo scene with real actuators (2 legs, hip-knee-wheel each, live-computed
rolling gait), fail-closed Zenoh bridge (
robot/tunnel/action->robot/tunnel/result), result-gated settlement, and replay protection.Sim-to-Sim validation
The same potential-field 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.Evidence
tests/test_bridge.py)(
docs/evidence/terminal_log.txt,tron1_metrics.json)(
docs/evidence/failure_terminal_log.txt,tron1_failure_metrics.json)See
docs/README.mdanddocs/validation-report.mdfor full architectureand reviewer verification checklist.