docs: HF model card — best-of-both front-matter derived from manifest

README.md

@@ -1,18 +1,28 @@
 ---
-tags:
-  - OpenRAL
-  - rskill
-  - ros2
-  - moveit
-license: apache-2.0
 language:
-  - en
+- en
+license: apache-2.0
+pipeline_tag: robotics
+tags:
+- OpenRAL
+- rskill
+- ros2
+- moveit
+- franka_panda
+- ur5e
+- ur10e
+- so100_follower
+- openarm
+- rizon4
+- sawyer
+- widowx
+inference: false
 ---
 
 # rskill-moveit-look-at
 
 Aim a robot-mounted camera at a 3-D point (ADR-0044 Phase 3; renamed from
-`openral/rskill-look-at` under [ADR-0052](../../docs/adr/0052-moveit-goal-builder-library.md)).
+`openral/rskill-look-at` under [ADR-0054](../../docs/adr/0054-moveit-goal-builder-library.md)).
 
 A `kind: ros_action` rSkill wrapping `moveit_msgs/action/MoveGroup` — like
 [`rskill-moveit-joints`](../rskill-moveit-joints/), but the goal is a
@@ -70,6 +80,18 @@ Planner settings (`request.group_name`, scaling, attempts) are inherited from
 `default_goal_json`. Omit `standoff_m` to re-aim in place; set it to also move
 the camera to that distance from the target.
 
+### GPU-accelerated planning (cuMotion, ADR-0065)
+
+On a host that clears the cuMotion GPU floor (`RobotCapabilities.supports_cumotion()`
+— Ampere+, CUDA ≥ 13, ~8 GB VRAM), the runner sets
+`MotionPlanRequest.pipeline_id = "isaac_ros_cumotion"` so MoveIt plans with
+NVIDIA's CUDA-accelerated cuMotion pipeline; otherwise it falls back to OMPL.
+Transparent — same skill, no manifest change — and it never bypasses the safety
+kernel: the planned trajectory still replays through `/openral/candidate_action`
+and is validated waypoint-by-waypoint. Install: see
+[`docs/contributing/toolchain.md`](../../docs/contributing/toolchain.md) →
+"GPU motion planning — cuMotion".
+
 ## How it was trained / Upstream provenance
 
 Nothing is trained — this rSkill wraps the upstream MoveIt motion planner and
@@ -179,7 +201,7 @@ commercial-use-permissive.
 
 ## See also
 
-- [ADR-0052 — MoveIt goal-builder library + rskill-moveit-* rename](../../docs/adr/0052-moveit-goal-builder-library.md)
+- [ADR-0054 — MoveIt goal-builder library + rskill-moveit-* rename](../../docs/adr/0054-moveit-goal-builder-library.md)
 - [ADR-0044 — look_at skill + grid-refined approach](../../docs/adr/0044-look-at-skill-grid-refined-approach.md)
 - [`openral_rskill.look_at_rskill`](../../python/rskill/src/openral_rskill/look_at_rskill.py) — adapter source
 - [`openral_world_state.geometry`](../../python/world_state/src/openral_world_state/geometry.py) — gaze math