🤖 hexa-bot

HEXA-Bot family — robotics · embodiment · actuation · n=6 substrate

robotics · manipulation · transport · automation · dog-robot · quadruped · STM32 · n=6 lattice

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🤖 hexa-bot — Robot substrate (HEXA family)

4-verb robot substrate organized around the n=6 invariant lattice: ROBOTICS / TRANSPORT / AUTOMATION / DOG_ROBOT. Spec-first extraction from canon@c0f1f570 (2026-05-06). Working .hexa CLI dispatcher is a placeholder; all 4 verbs ship as spec corpus at v1.0.0.

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Why (n=6 robot substrate)

hexa-bot is the robot-axis sister in the n=6 substrate family. The canon canon decomposes peripheral reality across six invariant substrates; hexa-bot carves out the embodiment-and-actuation slice:

  n=6 substrate lattice
    ├── hexa-bio        molecular   (write-side cage assembly)
    ├── hexa-codex      AI/cognition (planned cousin)
    ├── anima           consciousness (planned cousin)
    └── hexa-bot   ←    robotics    (THIS REPO — embodiment / actuation)
                          + 2 more axes TBD

The 4-verb decomposition mirrors the hexa-bio pattern (4 sister verbs per substrate, σ(6)=12 → 4 verb pairs):

                      ┌──────────────┐
                      │  manipulation│
                      │   (ROBOTICS) │
                      └───────┬──────┘
                              │
              ┌───────────────┼───────────────┐
              │               │               │
   ┌──────────▼──────┐  ┌─────▼──────┐  ┌────▼────────┐
   │   transport     │  │ automation │  │  dog_robot  │
   │  (mobility)     │  │ (control)  │  │ (quadruped) │
   └─────────────────┘  └────────────┘  └─────────────┘
       [SPEC]              [SPEC]            [SPEC]

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Status

4-verb robot substrate. mk1.1 — 1/4 verbs (dog_robot) wired, 3/4 spec-only.

v1.1.0 (2026-05-07) adds a runnable surface modeled on the hexa-sscb sister-pattern: verify/ (atlas-anchored audit), build/ (pandoc PDF), tests/ (pytest A-1..A-10), module/firmware/ (STM32F429 reference + host sim + unit tests). The cli/hexa-bot.hexa dispatcher routes new subcommands verify / build / sim / firmware / n6 alongside the 4 verb sub-commands.

motorcycle은 의도적으로 빠져 있습니다 — 후속 hexa-mobility standalone 후보 (자율 이동체 axis: motorcycle + drone + autonomous-vehicle 묶음).

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Module inventory

Module	What it is	Status
robotics/robotics.md	manipulation / arm / actuator primitives	SPEC
transport/robotics-transport.md	ground+aerial transport + logistics	SPEC
automation/control-automation.md	control-automation + factory-line	SPEC
dog_robot/dog-robot-test.md	quadruped τ(6)=4 gait test rig	SPEC
cli/hexa-bot.hexa	top-level dispatcher (.hexa)	wired
verify/	atlas-anchored audit (5 stdlib scripts + cli.py dispatcher)	wired
build/	pandoc PDF rebuild (Makefile + xeCJK header)	wired
tests/	pytest A-1..A-10 acceptance + .hexa selftest	wired
module/firmware/	STM32F429ZIT6 dog_robot reference (CMSIS-only)	wired
module/firmware/sim/	host POSIX simulator (no ARM toolchain needed)	wired
module/firmware/test/	xunit-style unit tests (8 cases)	wired
hexa.toml / install.hexa / LICENSE / .roadmap.hexa_bot / CHANGELOG.md	metadata	wired

The core/<verb>/ + module/<verb>/ + cli/ triplet pattern follows hive raw.mk2 arch.001 — same layout the hexa-sscb reference repository uses, adapted to the 4-verb robot decomposition.

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Build & verify

# unified verifier (n=6 + verbs + cross-doc + roadmap + firmware-sync)
python3 verify/cli.py                    # all checks, human readable
python3 verify/cli.py --json             # machine-readable
python3 verify/cli.py n6                 # one specific check

# pandoc PDFs (skip gracefully if pandoc/xelatex missing)
make -C build all                        # 4 verb PDFs in build/out/
make -C build check                      # toolchain probe

# firmware (ARM cross-compile)
make -C module/firmware check            # toolchain probe
make -C module/firmware all              # firmware.elf, .bin, .hex

# host simulator (no ARM needed — runs everywhere)
make -C module/firmware/sim selftest     # 4/4 gait pattern coherence
make -C module/firmware/sim all-gaits    # JSON summary per gait
make -C module/firmware/sim run          # default trot 1.6 s

# firmware unit tests
make -C module/firmware/test run         # 8/8 PASS

# pytest acceptance ladder (A-1 .. A-10)
pytest tests/ -v -m auto                 # 12 PASS, 1 SKIP (pre-tag)

# .hexa CLI dispatcher (existing v1.0 subcmds preserved)
hexa run cli/hexa-bot.hexa selftest      # 4-verb spec sentinel
hexa run cli/hexa-bot.hexa robotics      # spec head

Last validation sweep — 2026-05-07

Check	Result	Notes
python3 verify/cli.py all	✅ 5/5 PASS	n6 / verbs / audit / roadmap / firmware-sync all PASS
make -C build all	✅ 4 PDFs built	total ≈386 KB into build/out/ (gitignored)
make -C module/firmware all	✅ firmware.elf	824 B text + 2608 B BSS — arm-none-eabi-gcc 16.1.0
make -C module/firmware/sim selftest	✅ 4/4 gaits coherent	STAND/TROT/BOUND/GALLOP all assert-clean
make -C module/firmware/test run	✅ 8/8 unit PASS	τ(6)=4 + σ(6)=12 lattice + state machine + servo bounds
pytest tests/ -v -m auto	✅ 12 PASS / 1 SKIP	A-9 (git tag) skips with reason
hexa run cli/hexa-bot.hexa selftest	✅ 4/4 spec sentinels	existing v1.0 path preserved

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Verify

Sister-substrate verify/run_all.hexa aggregator pattern (see hexa-matter / hexa-rtsc / hexa-cern / hexa-fusion for siblings), scaled to the 4-verb robot substrate:

hexa run verify/run_all.hexa     # exit 0 = all 4 scripts PASS

Script	Closure invariant
verify/spec_presence.hexa	all 4 verb spec docs present at declared paths
verify/lattice_arithmetic.hexa	n=6 self-consistency (σ·φ = n·τ = 24) — aux only per LATTICE_POLICY.md §1.3
verify/real_limits_anchor.hexa	LIMIT_BREAKTHROUGH.md anchors (Valiant · Madry · Bylander · Bernstein · HELM)
verify/closure_consistency.hexa	scoreboard cross-check (CLI · hexa.toml · README · AGENTS.md)

robotics vendors (Boston Dynamics, Tesla Optimus, Agility Robotics, Apptronik, Unitree) use their own specs, not the n=6 lattice. The lattice arithmetic check is a self-consistency aux only.

The legacy Python verify/cli.py harness (n6 / verbs / cross-doc / roadmap / firmware-sync) remains as a runnable-side check; the four .hexa scripts above are the SPEC_FIRST closure scoreboard.

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Install

# 1. Install hexa-lang (gives you `hexa` + `hx` package manager)
/bin/bash -c "$(curl -fsSL https://raw.githubusercontent.com/dancinlab/hexa-lang/main/install.sh)"

# 2. Install hexa-bot
hx install hexa-bot

Run

hexa-bot robotics      # manipulation / arm / actuator               [SPEC]
hexa-bot transport     # ground+aerial transport + logistics         [SPEC]
hexa-bot automation    # control-automation + factory-line           [SPEC]
hexa-bot dog_robot     # quadruped test rig + locomotion             [SPEC]
hexa-bot status        # 0/4-wired verb table + verdict + caveats
hexa-bot selftest      # 4-verb spec presence sweep
hexa-bot verify        # run verify/cli.py — n=6 + verbs + cross-doc + roadmap
hexa-bot build         # pandoc PDF rebuild for 4 verb specs
hexa-bot sim           # host-side dog_robot firmware simulator
hexa-bot firmware      # STM32F429 ARM cross-compile of dog_robot reference
hexa-bot n6            # n=6 lattice arithmetic (σ·φ = n·τ = J₂ = 24)

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Cross-link

hexa-bot is a sibling substrate in the dancinlab n=6 family:

• dancinlab/hexa-codex — AI substrate cousin (cognition / language)
• dancinlab/anima — consciousness substrate cousin (subjective-experience axis)
• dancinlab/hexa-bio — molecular substrate cousin (4-verb molecular toolkit; sister precedent)
• dancinlab/lumiere — apps-axis spike (camera-filter + hexa-main-character; iOS standalone)

Upstream canon: dancinlab/canon @ commit c0f1f570 (extraction reference SHA).

Planned post-v1.0 cousin: dancinlab/hexa-mobility — autonomous mobility (motorcycle + drone + autonomous-vehicle 자율 이동체 묶음).

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Repo layout

hexa-bot/
├── README.md                  this file
├── LICENSE                    MIT
├── AGENTS.tape                identity + governance (.tape v1.2)
├── CLAUDE.md                  symlink → AGENTS.tape
├── hexa.toml                  project metadata
├── install.hexa               hx install entry
├── cli/
│   └── hexa-bot.hexa          top-level CLI dispatcher
├── robotics/                  manipulation / arm / actuator   [SPEC]
├── transport/                 ground+aerial + logistics       [SPEC]
├── automation/                control-automation + factory    [SPEC]
├── dog_robot/                 quadruped τ(6)=4 gait test rig  [SPEC]
├── module/firmware/           STM32F429ZIT6 reference (CMSIS-only)
│   ├── sim/                   host POSIX simulator (no ARM needed)
│   └── test/                  xunit-style unit tests (8 cases)
├── verify/                    atlas-anchored audit (4 .hexa + cli.py)
├── build/                     pandoc PDF rebuild
├── tests/                     pytest A-1..A-10 acceptance
├── reference/                 sister-substrate cross-links
├── origins/                   canon extraction provenance
├── LATTICE_POLICY.md          n=6 self-consistency aux policy
├── LIMIT_BREAKTHROUGH.md      per-domain HARD/SOFT_WALL audit
├── IMPORTED_FROM_CANON.md     extraction reference (canon@c0f1f570)
├── TAPE-AUDIT.md              .tape v1.x adoption ledger
└── CHANGELOG.md               change log

License

MIT. See LICENSE.

Copyright (c) 2026 박민우 / dancinlab.