docs: HF model card for OpenRAL/rskill-moveit-multi-eef_pose v0.1.0

README.md

@@ -19,25 +19,24 @@ tags:
 inference: false
 ---
 
-# rskill-moveit-eef-pose
+# rskill-moveit-multi-eef_pose
 
 > **OpenRAL rSkill** — wraps the upstream `moveit_msgs/action/MoveGroup`
 > action server so the Reasoner can dispatch a collision-free Cartesian
 > end-effector pose goal (position + orientation) through the same
 > `ExecuteRskill` path used by VLA skills. No model weights — the manifest
 > is the entire artefact. New under
-> [ADR-0054](../../docs/adr/0054-moveit-goal-builder-library.md)'s
+> the
 > `rskill-moveit-*` family.
 
-This package uses `kind: ros_action` (see
-[ADR-0024](../../docs/adr/0024-ros-wrapped-rskills.md)) — a discriminator
+This package uses `kind: ros_action` — a discriminator
 on `RSkillManifest.kind` that selects the
 [`ROSActionRskill`](../../python/rskill/src/openral_rskill/ros_action_rskill.py)
 engine at resolve time, with `ros_integration.goal_builder: pose` selecting
 the [`PoseGoalRskill`](../../python/rskill/src/openral_rskill/pose_goal_rskill.py)
-goal-lowering adapter (ADR-0054). It is the generic Cartesian sibling of
-[`rskill-moveit-look-at`](../rskill-moveit-look-at/) (gaze is a computed-pose
-specialisation) and of [`rskill-moveit-joints`](../rskill-moveit-joints/)
+goal-lowering adapter. It is the generic Cartesian sibling of
+[`rskill-moveit-multi-look_at`](../rskill-moveit-look-at/) (gaze is a computed-pose
+specialisation) and of [`rskill-moveit-multi-joints`](../rskill-moveit-joints/)
 (joint-space). The engine constructs an `rclpy.action.ActionClient` on the
 host `RskillRunnerNode`, sends one goal built from the lowered `pose` block,
 awaits the result, and replays the returned `trajectory_msgs/JointTrajectory`
@@ -100,7 +99,7 @@ actuation path.
 
 ### Observation → action contract
 
-Input is the ADR-0026 `goal_params_json` `pose` block; output is a joint
+Input is the `goal_params_json` `pose` block; output is a joint
 trajectory replayed one waypoint per `step()` as a 1-row `JOINT_POSITION`
 `Action` chunk.
 
@@ -121,7 +120,7 @@ of every `ActionChunk` today
 Packing the full trajectory as one chunk with `horizon=N` would let
 waypoints 1..N actuate unchecked.
 
-### GPU-accelerated planning (cuMotion, ADR-0065)
+### GPU-accelerated planning (cuMotion)
 
 On a host that clears the cuMotion GPU floor (`RobotCapabilities.supports_cumotion()`
 — Ampere+, CUDA ≥ 13, ~8 GB VRAM), the runner sets
@@ -178,7 +177,7 @@ reads the `link_name ← tool_frame` offset from TF:
 
 | Field | Value |
 | --- | --- |
-| `name` | `OpenRAL/rskill-moveit-eef-pose` |
+| `name` | `OpenRAL/rskill-moveit-multi-eef_pose` |
 | `version` | `0.1.0` |
 | `license` | `apache-2.0` |
 | `kind` | `ros_action` |
@@ -212,7 +211,7 @@ ros2 launch moveit_resources_panda_moveit_config demo.launch.py
 
 # 2. Dispatch a Cartesian end-effector pose goal:
 ros2 action send_goal /openral/execute_rskill openral_msgs/action/ExecuteRskill \
-    "{rskill_id: 'OpenRAL/rskill-moveit-eef-pose', deadline_s: 30.0, prompt: 'move to pre-grasp',
+    "{rskill_id: 'OpenRAL/rskill-moveit-multi-eef_pose', deadline_s: 30.0, prompt: 'move to pre-grasp',
       goal_params_json: '{\"pose\": {\"position\": [0.4, 0.0, 0.5], \"orientation\": [0.0, 0.0, 0.0, 1.0]}}'}"
 ```
 
@@ -220,12 +219,12 @@ ros2 action send_goal /openral/execute_rskill openral_msgs/action/ExecuteRskill
 
 - **Reachability is the planner's call.** A pose outside the arm's dexterous
   workspace simply fails to plan — there is no base-repositioning fallback
-  here (that is the navigate rung of the ladder, ADR-0044 Phase 4).
+  here (that is the navigate rung of the ladder).
 - **OpenRAL safety supervisor does not do collision checking.** We trust
   MoveIt's internal FCL pass; the per-joint envelope check still runs per
   waypoint. Kernel-side collision checking is a separate ADR + multi-PR effort.
 - **No velocity / jerk bound at the supervisor.** Same posture as
-  `rskill-moveit-joints`: the per-joint position envelope runs per
+  `rskill-moveit-multi-joints`: the per-joint position envelope runs per
   waypoint; richer bounds are tracked separately.
 
 ## License
@@ -233,13 +232,12 @@ ros2 action send_goal /openral/execute_rskill openral_msgs/action/ExecuteRskill
 The rSkill package itself (this manifest + README) is **Apache-2.0**. The
 wrapped MoveIt code (`moveit_msgs` IDL, `moveit2` planners) is **BSD-3-Clause**
 and lives outside this repository — installed via `ros-${ROS_DISTRO}-moveit`.
-Per [ADR-0012](../../docs/adr/0012-open-core-licensing.md) both postures are
-commercial-use-permissive.
+Both postures are commercial-use-permissive.
 
 ## See also
 
-- [ADR-0054 — MoveIt goal-builder library + rskill-moveit-* rename](../../docs/adr/0054-moveit-goal-builder-library.md)
-- [ADR-0024 — ROS-wrapped rSkills](../../docs/adr/0024-ros-wrapped-rskills.md)
+- MoveIt goal-builder library + rskill-moveit-* rename
+- ROS-wrapped rSkills
 - [`openral_rskill.ros_action_rskill`](../../python/rskill/src/openral_rskill/ros_action_rskill.py) — engine source
 - [`openral_rskill.pose_goal_rskill`](../../python/rskill/src/openral_rskill/pose_goal_rskill.py) — goal-lowering adapter
 - [`rskills/rskill-moveit-joints/`](../rskill-moveit-joints/) — sibling joint-space MoveIt wrapper