fix(embodiments): un-hardcode verify script, finish RTC horizon integer migration

[gaolebaigao]

What

Consistency fixes in the embodiment config layer, prepping the ground for the Unitree Z1 arm preset (#69):

• scripts/verify_embodiment_structure.sh no longer hard-codes the expected preset list. It has been failing since quadcopter shipped (expects ['franka', 'so100', 'ur5'], but list_presets() returns 4). It now validates whatever the package actually ships.
• Finish the rtc_execution_horizon fractional → integer migration (ADR 2026-04-25 decision [Orchestration] Enhance reflex doctor for Optional Dependencies #8) in the copies that were left behind: scripts/emit_embodiment_presets.py and configs/embodiments/{franka,so100,ur5}.json (franka/ur5: 25, so100: 12 — matching the already-migrated in-package presets). Re-running the emitter would previously have regressed the package presets back to fractional values, and every from-source load emitted a deprecation warning.
• docs/embodiment_schema.md: fix shipped preset count (4, quadcopter included), the canonical preset location (in-package presets dir; configs/embodiments/ copies are dev fallbacks), and the rtc_execution_horizon field semantics + cross-field rules to match schema.json/validate.py.

Why

The Z1 preset (#69) will be the 5th preset and needs these gates green: the verify script must pass with a new preset present, and the emitter must be re-runnable without regressing the integer migration.

Testing

• bash scripts/verify_embodiment_structure.sh — fails on main (hard-coded 3 presets), passes here (4/4 presets validated)
• pytest tests/test_embodiments.py tests/test_guard.py — 90 passed
• python scripts/emit_embodiment_presets.py — 3/3 validated; re-emit is content-identical (modulo pre-existing to_dict() key ordering of the optional gripper block)
• ruff check scripts/emit_embodiment_presets.py — no new findings vs main (I001 etc. are pre-existing)

Prep for #69 — no hardware values included in this PR; the Z1 preset itself will follow once the hardware contract is confirmed there.

[chatgpt-codex-connector]

💡 Codex Review

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Reviewed commit: bc3c0b0915

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[chatgpt-codex-connector]

Keep an independent inventory of required package presets

When any single bundled preset is accidentally omitted from src/tether/embodiments/presets/, list_presets() simply returns the surviving files, this nonempty check succeeds, and the loop reports that the package structure is valid. The earlier expected-list comparison caught such omissions; deriving both the subject and expected inventory from the same directory makes this preflight unable to detect incomplete packaging, including a missing quadcopter.json or one of the package copies whose dev copy was checked above.

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[chatgpt-codex-connector]

Document the migration's actual rounding behavior

For legacy fractions whose product with chunk_size is not integral, this formula gives a different result from the loader: EmbodimentConfig.from_dict() uses int(round(horizon * chunk_size)), whereas the new documentation promises truncation via int(v × chunk_size). For example, v=0.25 and chunk_size=30 is documented as 7 actions but loads as 8, so operators tuning custom legacy configs cannot predict the resulting lock horizon from this schema guide.

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[gaolebaigao]

Both suggestions addressed in 7fd2768:

1. Omission detection restored (scripts/verify_embodiment_structure.sh): the script now keeps a required-minimum set {"franka", "so100", "ur5", "quadcopter"} checked as a subset of what list_presets() returns — an accidentally dropped preset file fails the preflight, while new presets still validate automatically without editing the script (the old equality check was what broke when quadcopter shipped). Negative-tested: hiding quadcopter.json now exits with required package presets missing: ['quadcopter'].

2. Migration formula corrected (schema.json description + docs/embodiment_schema.md): now documented as round(v × chunk_size) (minimum 1) to match what EmbodimentConfig.from_dict() actually does — int(round(...)) — instead of the truncating int(v × chunk_size) both previously claimed (v=0.25, chunk_size=30 migrates to 8, not 7). Description-only change; the shipped presets' migrated values (25/12) are unaffected since their products are integral.

Verification: verify_embodiment_structure.sh passes 4/4 (and correctly fails with a preset removed); pytest tests/test_embodiments.py tests/test_guard.py — 90 passed.

[gaolebaigao]

Hi @rylinjames, a gentle ping for review whenever you have a moment.

Both Codex suggestions are addressed in 7fd2768 (omission detection restored in the verify script, migration formula corrected in the schema docs), the required quality-ratchet/protected check is green, and the three pull_request workflows are only waiting on a maintainer's "Approve and run".

Happy to address anything that comes up in review. Since this is the prep step for the Z1 arm-only preset from #69, getting it merged early keeps that work moving too. Thanks!