Sentinel: autonomous Unitree Go1 inspection-patrol — 7/7, 100/100

[Tekipeps]

A fresh submission in the locomotion lane: a Unitree Go1 walks an instrumented patrol route entirely on real foot-ground contact (ctrl-only, no qpos teleport).

• gait.py hand-built trot: foot-trajectory + planar 2-link IK, diagonal
  phasing, additive per-side stride for skid-steer + pivot-in-place
• controller.py closed-loop waypoint heading control (the open-loop trot drifts)
• scene.py procedural course (MjSpec): ramp berm, rubble field, two
  inspection panels, finish pad, onboard/chase/overview cameras
• engine.py mission state machine (PATROL · INSPECT · SHOVE) + 7 scored,
  physics-checked objectives
• hud.py/run_demo.py narrated HUD video: objective checklist, route mini-map,
  head-cam picture-in-picture during scans, scorecard

Mission result (deterministic): crest berm, cross rubble, scan both panels by pivoting in place, survive a 70 N lateral shove, reach finish, never fall — 7/7 objectives, 100/100. Unitree Go1 vendored (BSD-3, MuJoCo Menagerie). Registration UUID a003f03d-ca73-4d5e-96bd-87a7a83465bf.

Registration UUID (required) · 参赛 UUID（必填）

Registration UUID: PASTE-YOUR-UUID-HERE

Obtain your UUID from the official Robothon platform, and use the same UUID in
submissions/<your-project>/registration.json.
从官方 Robothon 平台获取 UUID，并在 submissions/<你的项目>/registration.json 中填写同一个 UUID。

Project Summary · 项目说明

• Project name · 项目名称:
• Robot platform · 机器人平台:
• Task goal · 任务目标:
• Technical approach · 技术方案:
• Core features · 核心功能:
• Highlights · 亮点:
• Current limitations · 当前局限:
• Future improvements · 未来改进:

How to Run · 如何运行

# paste install and run commands here · 在此粘贴安装与运行命令

Demo Video · 演示视频

• Demo video is included in the submission folder · 演示视频已包含在提交文件夹中, or
• Demo video link · 演示视频链接:

Checklist · 检查清单

• submissions/<your-project>/registration.json contains my UUID · 已包含我的 UUID
• PR description contains the same UUID · PR 描述中填写了同一个 UUID
• Code runs from documented instructions · 代码可按文档说明运行
• Demo video was generated by the submitted code · 演示视频由提交的代码生成