Hardware Abstraction Layer (HAL) and ROS2

Ginkai integrates directly with ROS2 (Robot Operating System 2), the industry standard for humanoid control.

Client-Side Implementation (Python/ROS2):

import rclpy
from rclpy.node import Node
from ginkai_blockchain_sdk import GinkaiProvider

class GinkaiBipedalNode(Node):
    def __init__(self):
        super().__init__('ginkai_bipedal_controller')
        self.blockchain = GinkaiProvider(network='base_mainnet')
        self.get_logger().info("Ginkai Identity Verified. Fetching compatible skill-set...")

    def sync_new_skills(self):
        # Checks for new approved skills for this specific morphology
        new_skills = self.blockchain.get_pending_skills(robot_id="HUMANOID_V1_04")
        for skill in new_skills:
            if self.blockchain.verify_zk_proof(skill.proof):
                self.apply_skill_to_actuators(skill.payload)

def main():
    rclpy.init()
    node = GinkaiBipedalNode()
    node.sync_new_skills()
    rclpy.spin(node)

1. Smart Contract Architecture

The Ginkai protocol is built upon a modular system of upgradeable smart contracts to ensure longevity and flexibility.

• Core Registry (ERC-721): Manages the ownership, licensing, and access control of every physical robot unit.

• Skill Factory (ERC-1155): Handles the minting of skills. This standard is used because it allows for "Semi-Fungible" tokens (one skill ID, multiple copies/licenses). It supports dynamic metadata updates for version control (v1.0 v1.1).

• Micropayment Channels: For "Pay-per-Execution" models, Ginkai utilizes off-chain state channels. Robots verify transactions locally and only settle the final balance on the Base mainnet periodically, ensuring near-zero gas costs for daily operations.

2. Core Smart Contract: The Skill Factory (ERC-1155) Code

The following Solidity contract demonstrates how Ginkai mints robotic skills on the Base L2 network.

// SPDX-License-Identifier: MIT
pragma solidity ^0.8.20;

import "@openzeppelin/contracts/token/ERC1155/ERC1155.sol";
import "@openzeppelin/contracts/access/AccessControl.sol";

/// @title Ginkai Skill Factory
/// @notice Manages the minting and licensing of Robotic Skill Assets
contract GinkaiSkillFactory is ERC1155, AccessControl {
    
    bytes32 public constant VALIDATOR_ROLE = keccak256("VALIDATOR_ROLE");
    
    // Skill ID => Safety Score (0-100), verified by Proof-of-Learning
    mapping(uint256 => uint8) public safetyScores;

    event SkillMinted(uint256 indexed skillId, address creator, uint8 safetyScore);

    constructor() ERC1155("https://ipfs.ginkai.io/api/item/{id}.json") {
        _grantRole(DEFAULT_ADMIN_ROLE, msg.sender);
    }

    /// @notice Mints a new Skill Token after simulation validation
    function mintSkill(
        address to, 
        uint256 id, 
        uint256 amount, 
        uint8 safetyScore, 
        bytes memory data
    ) public onlyRole(VALIDATOR_ROLE) {
        require(safetyScore >= 90, "Ginkai: Safety score too low for public release");
        
        _mint(to, id, amount, data);
        safetyScores[id] = safetyScore;
        
        emit SkillMinted(id, to, safetyScore);
    }

    /// @notice Burns tokens if a skill is later found to be dangerous (Slashing)
    function revokeSkill(address from, uint256 id, uint256 amount) public onlyRole(DEFAULT_ADMIN_ROLE) {
        _burn(from, id, amount);
        delete safetyScores[id]; 
    }
}