rskill.yaml: sync to OpenRAL namespace + current schema (joint_units, evaluated_tasks, ADR-0071)

rskill.yaml

@@ -5,6 +5,7 @@
 # ── Identity ───────────────────────────────────────────────────────────────
 schema_version: "0.1"
 name: "OpenRAL/rskill-diffusion-pusht"
+evaluated_tasks: ["pusht"]  # ADR-0060: benchmark task this checkpoint is validated for (gate)
 version: "0.1.0"
 license: "apache-2.0"
 role: "s1"
@@ -28,17 +29,17 @@ sensors_required:
     min_width: 96
     min_height: 96
 
-# Output side (ADR-0013). The pusht_2d scene-pseudo-robot exposes a 2-D
-# (x, y) absolute position; robots/pusht_2d/robot.yaml advertises
-# `cartesian_pose` as its supported control mode (the codebase
-# convention for the PushT 2-D action regardless of dimensionality).
+# Output side (ADR-0013). The pusht_2d scene-pseudo-robot exposes its 2-D
+# (x, y) pusher position as two synthetic prismatic joints (tip_x, tip_y);
+# robots/pusht_2d/robot.yaml advertises `joint_position` over those 2 DoF.
+# The gym-pusht action IS the absolute target of those joints, so the
+# robot-side actuator is joint_position (ADR-0071 — matches every other
+# rSkill, where `kind` names the robot actuator, not the policy encoding).
 # The loader auto-fills n_dof (2) + vla_action_key from the robot YAML.
-# PushT actions are absolute (x, y) targets in the world/scene frame.
 actuators_required:
-  - kind: "cartesian_pose"
+  - kind: "joint_position"
     control_mode_semantics:
       mode: "absolute"
-      reference_frame: "world"
 
 # ── Runtime / weights ──────────────────────────────────────────────────────
 runtime: "pytorch"
@@ -70,7 +71,7 @@ latency_budget:
 # ── Provenance ─────────────────────────────────────────────────────────────
 # Headline success rate from skills/diffusion-pusht/eval/pusht.json.
 benchmarks:
-  pusht: 0.60
+  pusht: 1.0
 
 paper_url: "https://arxiv.org/abs/2303.04137"
 source_repo: "hf://lerobot/diffusion_pusht"
@@ -96,8 +97,14 @@ scenes:
 # to bind the LeRobot v3 `action` feature shape).
 action_contract:
   dim: 2
-  # issue #135 — EXPLICIT joint units, verified against the checkpoint normalizer
-  # stats. The skill_runner converts deg<->rad at the policy boundary; declaring
-  # it here replaces the fragile stats-magnitude guess (which drove a real arm
-  # into its limits). RADIANS = no conversion.
+  # ADR-0071 — absolute positions of the 2 prismatic tip_x/tip_y joints.
+  # Declared explicitly so the contract states joint-space rather than relying
+  # on the undeclared-layout fallback.
+  representation: "joint_positions"
+  # EXPLICIT joint units — PushT's 2-D action is a planar tip position in the
+  # 512×512 image frame (verified: observation.state normalizer max∈[496, 511],
+  # min∈[13, 33]), NOT angles. "radians" selects the identity (no deg↔rad
+  # conversion) so the 0–512 values pass through unchanged. It is declared to
+  # STOP the stats-magnitude heuristic — which sees peak ≫π and would wrongly
+  # flag "degrees" and corrupt the action with a ×π/180 scaling.
   joint_units: "radians"