Update org card: +4 ros_action rSkills (MoveIt/Nav2), +2 OmDet detectors; rSkill count 31→30, breakdown 20 VLA / 4 ros_action / 5 detector / 1 vlm

index.html

@@ -219,7 +219,7 @@
     <span class="badge">Apache-2.0</span>
     <span class="badge">ROS 2 Jazzy</span>
     <span class="badge">Python 3.12</span>
-    <span class="badge">16 robots · 31 rSkills · 22 benchmarks</span>
+    <span class="badge">16 robots · 30 rSkills · 22 benchmarks</span>
   </div>
 
   <!-- What is it -->
@@ -309,8 +309,9 @@ openral deploy run --config deployments/so100_pickplace.yaml</code></pre>
     <table>
       <thead><tr><th>Type</th><th>What</th><th>Count</th></tr></thead>
       <tbody>
-        <tr><td><code>rskill-*</code> models</td><td>Policy rSkills — VLA weights + ROS-wrapped action skills + manifest + eval</td><td>27</td></tr>
-        <tr><td><code>rskill-*</code> models</td><td>Perception detector rSkills — RT-DETR + LocateAnything → <code>ObjectsMetadata</code></td><td>3</td></tr>
+        <tr><td><code>rskill-*</code> models</td><td>VLA policy rSkills — VLA weights + ROS-wrapped action skill + manifest + eval</td><td>20</td></tr>
+        <tr><td><code>rskill-*</code> models</td><td>ROS-action rSkills (<code>kind: ros_action</code>) — classical motion planners (MoveIt MoveGroup, Nav2) the reasoner dispatches like any other skill</td><td>4</td></tr>
+        <tr><td><code>rskill-*</code> models</td><td>Perception detector rSkills (<code>kind: detector</code>) — RT-DETR + OmDet-Turbo + LocateAnything → <code>ObjectsMetadata</code></td><td>5</td></tr>
         <tr><td><code>rskill-*</code> models</td><td>Scene-understanding VLM rSkill (<code>kind: vlm</code>) — drives the reasoner's read-only <code>query_scene</code> tool</td><td>1</td></tr>
         <tr><td><code>dataset-*</code></td><td>LeRobotDataset v3 demonstration datasets</td><td>growing</td></tr>
       </tbody>
@@ -319,7 +320,7 @@ openral deploy run --config deployments/so100_pickplace.yaml</code></pre>
 
   <!-- rSkills -->
   <h2>Policy rSkills</h2>
-  <p>Each rSkill is a self-contained Hub repo: <code>rskill.yaml</code> manifest, <code>model.safetensors</code> weights, <code>eval/</code> results, and a model card with runnable examples. Install with <code>openral rskill install OpenRAL/rskill-&lt;name&gt;</code>. The table below shows a representative subset of the 27 policy rSkills (VLA + ROS-wrapped action skills).</p>
+  <p>Each rSkill is a self-contained Hub repo: <code>rskill.yaml</code> manifest, <code>model.safetensors</code> weights, <code>eval/</code> results, and a model card with runnable examples. Install with <code>openral rskill install OpenRAL/rskill-&lt;name&gt;</code>. The table below shows a representative subset of the 20 VLA policy rSkills; classical motion planners ship as separate <code>ros_action</code> rSkills (see below).</p>
 
   <div class="table-wrap">
     <table>
@@ -424,6 +425,36 @@ openral deploy run --config deployments/so100_pickplace.yaml</code></pre>
     </table>
   </div>
 
+  <h2>ROS-action rSkills</h2>
+  <p><code>kind: ros_action</code> — classical motion planners packaged as rSkills, so the S2 reasoner dispatches a MoveIt or Nav2 motion exactly like a learned policy (this is the "VLA <em>and</em> classical controllers" thesis). No weights; they wrap a ROS 2 action server.</p>
+  <div class="table-wrap">
+    <table>
+      <thead><tr><th>rSkill</th><th>Planner</th><th>What it does</th><th>License</th></tr></thead>
+      <tbody>
+        <tr>
+          <td><code>rskill-moveit-eef-pose</code></td>
+          <td>MoveIt MoveGroup</td><td>Collision-free motion to a 6-DOF Cartesian end-effector pose (e.g. a pre-grasp)</td>
+          <td><span class="lic lic-green"></span>Apache-2.0</td>
+        </tr>
+        <tr>
+          <td><code>rskill-moveit-joints</code></td>
+          <td>MoveIt MoveGroup</td><td>Collision-free motion to a target joint configuration (e.g. a policy's in-distribution start pose)</td>
+          <td><span class="lic lic-green"></span>Apache-2.0</td>
+        </tr>
+        <tr>
+          <td><code>rskill-moveit-look-at</code></td>
+          <td>MoveIt MoveGroup</td><td>Aim a wrist-mounted camera at a 3-D point so a later perception query / grasp sees the object framed</td>
+          <td><span class="lic lic-green"></span>Apache-2.0</td>
+        </tr>
+        <tr>
+          <td><code>rskill-nav2-navigate-to-pose</code></td>
+          <td>Nav2 NavigateToPose</td><td>Drive a mobile base to an absolute (<code>map</code>) or relative (<code>base_link</code>) goal pose</td>
+          <td><span class="lic lic-green"></span>Apache-2.0</td>
+        </tr>
+      </tbody>
+    </table>
+  </div>
+
   <h2>Perception detector rSkills</h2>
   <p><code>kind: detector</code> — emit <code>ObjectsMetadata</code> (2D detections lifted to 3D via depth) rather than an <code>Action</code>. Plug directly into the <code>openral deploy</code> graph and fold into World State.</p>
   <div class="table-wrap">
@@ -440,6 +471,16 @@ openral deploy run --config deployments/so100_pickplace.yaml</code></pre>
           <td>RT-DETR v2 R50vd</td><td>Higher accuracy</td>
           <td><span class="lic lic-green"></span>Apache-2.0</td>
         </tr>
+        <tr>
+          <td><code>rskill-omdet-turbo-indoor</code></td>
+          <td>OmDet-Turbo (Swin-tiny)</td><td>Real-time open-vocab; ~230-class indoor vocabulary, unprompted background producer</td>
+          <td><span class="lic lic-green"></span>Apache-2.0</td>
+        </tr>
+        <tr>
+          <td><code>rskill-omdet-turbo-locator</code></td>
+          <td>OmDet-Turbo (Swin-tiny)</td><td>On-demand <code>locate_in_view</code> — lightweight in-process "find X"</td>
+          <td><span class="lic lic-green"></span>Apache-2.0</td>
+        </tr>
         <tr>
           <td><code>rskill-locateanything-3b-nf4</code></td>
           <td>LocateAnything-3B</td><td>Open vocabulary (out-of-process NF4 sidecar)</td>