Hi PR2 community,
URML (urml.dev) is a small, Apache-2.0 language for describing robot intent: it validates a request against a capability manifest and a safety envelope, then dispatches. PR2 is the dual-arm mobile manipulator that defined the "go fetch the mug" demo and seeded much of the modern ROS manipulation ecosystem — the canonical reference for exactly the task URML describes.
Nothing here asks the project to adopt, host, or maintain anything. This is a request for comment.
URML's ROS runtime meets the pr2 stack on its ROS surface; "go to the table and pick up the mug" lowers onto a move_to (the base) plus a grasp (an arm) — the very demo PR2 is known for. A two-armed platform exercises URML's bimanual manipulation work: an arm selector and a bimanual primitive for coordinated two-arm tasks. Validate-before-actuate refuses an out-of-reach grasp or undeclared object before an arm moves.
Two real questions: (1) Is URML's ROS surface the right seam for a validated-intent layer above PR2? (2) What should a URML capability manifest declare to describe a PR2-class dual-arm mobile manipulator honestly — drive type, two arms + reach/DOF, grippers + graspable classes, navigation bounds?
Full write-up: https://github.com/URML-MARS/URML/blob/main/docs/rfcs/0429-pr2-outreach.md
Thanks for keeping PR2 alive; the platform that started "go fetch the mug" is the natural place to talk about a language for exactly that.
Ido Yahalomi (URML, greenvh@gmail.com)
AI-assisted prose, maintainer-reviewed before posting (see VIBE.md). Human-only correspondence available on request.
Hi PR2 community,
URML (urml.dev) is a small, Apache-2.0 language for describing robot intent: it validates a request against a capability manifest and a safety envelope, then dispatches. PR2 is the dual-arm mobile manipulator that defined the "go fetch the mug" demo and seeded much of the modern ROS manipulation ecosystem — the canonical reference for exactly the task URML describes.
Nothing here asks the project to adopt, host, or maintain anything. This is a request for comment.
URML's ROS runtime meets the pr2 stack on its ROS surface; "go to the table and pick up the mug" lowers onto a move_to (the base) plus a grasp (an arm) — the very demo PR2 is known for. A two-armed platform exercises URML's bimanual manipulation work: an arm selector and a bimanual primitive for coordinated two-arm tasks. Validate-before-actuate refuses an out-of-reach grasp or undeclared object before an arm moves.
Two real questions: (1) Is URML's ROS surface the right seam for a validated-intent layer above PR2? (2) What should a URML capability manifest declare to describe a PR2-class dual-arm mobile manipulator honestly — drive type, two arms + reach/DOF, grippers + graspable classes, navigation bounds?
Full write-up: https://github.com/URML-MARS/URML/blob/main/docs/rfcs/0429-pr2-outreach.md
Thanks for keeping PR2 alive; the platform that started "go fetch the mug" is the natural place to talk about a language for exactly that.
Ido Yahalomi (URML, greenvh@gmail.com)
AI-assisted prose, maintainer-reviewed before posting (see VIBE.md). Human-only correspondence available on request.