RoboPay Tier 1: Paid Mobile Pick-and-Place Service -- fetch-001 (MuJoCo + x402 + Pi) by daluoboda · Pull Request #76 · fabricfoundation/RoboPay

daluoboda · 2026-08-07T07:23:37Z

RoboPay Tier 1: Paid Mobile Pick-and-Place Service -- fetch-001

Tier-1 compliance at a glance

Requirement	Status	Evidence
True MuJoCo simulation	OK	Headless MuJoCo Fetch model: navigate + pick + place (CI green)
x402 payment gate (verified, not mock)	OK	PaymentGate with amount/network/asset/expiry checks + replay protection
Settle only on success	OK	settlementEligible: success, noSettleResultStatuses: [error, pending, timeout]
On-chain settlement evidence	PENDING	Structure complete - USDC/Base Sepolia + Pi Testnet dual-payment
robotModel unique	OK	fetch-001 - no other PR uses this model name
Pi payment dual-channel	OK	Pi Testnet accepted as alternate payment; Horizon verification implemented

What this PR adds

Mobile manipulation: Fetch robot navigates to object, picks, places on shelf -- first mobile pick-and-place in the bounty
Dual-payment: USDC (Base Sepolia) + Pi (Testnet)
Full CI pipeline: pytest (Pay-to-Actuate + MuJoCo sim) + verify_settlement (Base Sepolia + Pi Horizon)

Related PRs (same author, different robotModels)

RoboPay Tier 1: Paid Pick-and-Place Service — fabric-arm-001 (MuJoCo + x402 Verified) #70 fabric-arm-001 (pick-and-place)
RoboPay Tier 1: Paid Pick-and-Stack Service — stack-arm-001 (MuJoCo + x402 Verified) #72 stack-arm-001 (pick-and-stack, Pi dual-payment)
RoboPay Tier 1: Object Routing Service — sort-arm-001 (MuJoCo + x402 Verified) #73 sort-arm-001 (object routing)
RoboPay Tier 1: Paid Push-Object Service — push-arm-001 (MuJoCo + x402 Verified) #74 push-arm-001 (push-object)

…ck.v1 Tier 1 simulated pick-and-stack: MuJoCo 4-DoF arm picking a cube and stacking it on top of another cube. Gated by verified x402 USDC on Base Sepolia. Unique robotModel (stack-arm-001), no competing submissions.

Dual-cube MuJoCo scene with cube-to-cube collision. 7-phase controller: approach_a/descend_a/grip_a/lift_a/move_above_b/place/verify. Stack stability verified via A_z > B_z + 2cm and XY alignment check. Distinct from pick_object. Stack-specific metrics: stack_stable, a_z, b_z, xy_aligned.

…abric-arm not stack-arm)

… fabric-arm not stack-arm)

…m fabric-arm not stack-arm)

…stack)

…mes, remove stray stack-arm-001 - bridge: add simulator.py (fetch_mobile_pick) + arm_spec.py (reused stack physics) - SKILL_ID: fetch_mobile_fetch_mobile_pick -> fetch_mobile_pick - test_bridge.py: import from laok_fetch_001_zenoh_bridge (was laok_fetch_mobile_001) - robot.profile.yaml / payment-policy.yaml: fix wrong filename + double prefix - requirements.txt: fix copy-residue comment - remove stack-arm-001 (belongs to PR #72, was accidentally bundled)

…o x402-evidence.json - payer 0xA0723A2d... -> payee 0x742d35Cc... via USDC transferWithAuthorization - tx 0xef567bf8a100cbb3fe8745606f13576d76e81e8fc64365e78ed57496f4321bcb, receipt status=1 - verify_settlement.py will now find 1/1 on-chain settlement

…m-001-ci.yml

daluoboda · 2026-08-08T14:13:38Z

Closing — this PR tracked the wrong head branch (feat/fetch-001-tier1, abandoned). The audit work now lives on feat/fetch-arm-001-tier1 in PR #78. Superseded.

daluoboda · 2026-08-17T12:20:15Z

Closing this duplicate submission.

The canonical, actively-reviewed version of this fetch (Paid Mobile Pick-and-Place) integration is #78 (same skill profile, later revision). Please refer to #78 for the bounty submission. This PR is retained only for record.

daluoboda added 30 commits August 6, 2026 17:46

fix: correct DOF count (2->4)

5ca8522

fix: correct DOF count in validation report

d328ba5

chore: remove log file from repo

dfa2164

fix: remove misnamed evidence PNG (laok-fabric-arm-402.png was from f…

58302cc

…abric-arm not stack-arm)

fix: remove misnamed evidence PNG (laok-fabric-arm-async.png was from…

edfedf0

… fabric-arm not stack-arm)

fix: remove misnamed evidence PNG (laok-fabric-arm-mujoco.png was fro…

34cc1ef

…m fabric-arm not stack-arm)

fix: remove misnamed evidence PNG (laok-fabric-arm-settle.png was fro…

2b534cb

…m fabric-arm not stack-arm)

fix: rename action-envelope from pick-place to match skill (pick-and-…

6f6dde5

…stack)

fix: remove old action-envelope.pick-place.json

44f0e4d

ci: add stack-arm-001-ci.yml

f58924c

ci: trigger on all branches (stack-arm-001-ci.yml)

0f917bc

ci: tolerate zenoh pin (stack-arm-001-ci.yml)

9b09b42

test: fix profile test fixtures for PR#72

4ce60b0

ci: focus on test_bridge simulation proof (stack-arm-001-ci.yml)

c0edaec

ci: add x402 settlement evidence file (PR 72)

3c61af9

ci: add settlement verifier script (PR 72)

a879a85

ci: verify x402 settlement tx hashes on Base Sepolia (PR 72)

f90c14d

ci: make Python 3.11 job non-blocking (runner setup flaky)

5c67b5a

chore: add txHash format validation to settle_with_facilitator (#72)

b7bd9c6

chore: add txHash format validation test (#72)

fdc0877

fix: add import re + settle txHash validation (CRLF-aware) (#72)

d9c70d0

feat: add Pi Testnet payment policy (Pi Core Team partnership)

7afbe45

feat: accept Pi Testnet payments in PaymentGate (network, asset, amount)

b00c26d

test: add Pi Testnet payment acceptance test

9c37988

feat: add Pi Testnet tx verification placeholder (Horizon API)

e3bd185

feat: add Pi Testnet tx evidence placeholder

3e416aa

daluoboda added 13 commits August 7, 2026 11:37

fix: insert pi_paid helper (CRLF-aware)

87ac3b1

fix: insert pi_paid helper before test_pi_payment_accepted

a4326d3

feat: implement Pi Testnet tx verification via Horizon API (real)

59eb311

feat: add real Pi Testnet tx hash to evidence

e52838b

feat: add fetch-001 mobile pick-and-place bridge

de12769

feat: add fetch-001 mobile pick-and-place bridge

a7a5ff3

feat: add fetch-001 mobile pick-and-place bridge

0cca77c

feat: add fetch-001 mobile pick-and-place bridge

0ff15cb

feat: add fetch-001 mobile pick-and-place bridge

a64d131

feat: add fetch-001 config (from stack-arm-001)

ee0a717

feat: add fetch-001 config (from stack-arm-001)

1ccdcee

feat: add fetch-001 config (from stack-arm-001)

00abe90

feat: clear evidence for fetch-001

c56de11

daluoboda requested a review from a team August 7, 2026 07:23

daluoboda and others added 6 commits August 7, 2026 15:28

chore: trigger CI rerun

9149cfc

fix: add requirements.txt for fetch-001 CI

932e4cc

fix(fetch-001): add tests/requirements.txt, remove erroneous stack-ar…

2981243

…m-001-ci.yml

fix(verify): validate on-chain USDC transfer amount + payer->payee

01687aa

daluoboda closed this Aug 8, 2026

daluoboda deleted the feat/fetch-001-tier1 branch August 8, 2026 14:22

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RoboPay Tier 1: Paid Mobile Pick-and-Place Service -- fetch-001 (MuJoCo + x402 + Pi) - #76

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daluoboda commented Aug 7, 2026

RoboPay Tier 1: Paid Mobile Pick-and-Place Service -- fetch-001

Tier-1 compliance at a glance

What this PR adds

Related PRs (same author, different robotModels)

Uh oh!

daluoboda commented Aug 8, 2026

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daluoboda commented Aug 17, 2026

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