Hi yourdfpy maintainer,
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. URML's reference tooling is Python, so a clean permissive Python URDF parser like yourdfpy is the most natural building block for an adapter that derives or cross-checks URML capability-manifest fields against a URDF.
Nothing here asks the project to adopt, host, or maintain anything. This is a request for comment.
yourdfpy parses a URDF in Python; a URML manifest declares capabilities and a safety envelope. A small adapter could read reach/DOF/joint limits from a yourdfpy model into a URML manifest skeleton, leaving payload, graspable classes, and the safety envelope to explicit declaration. URML's (Python) validator could use yourdfpy to keep a manifest consistent with the robot's URDF. The split: yourdfpy gives the URDF; the manifest gives capability + safety.
Two real questions: (1) Would a thin yourdfpy to URML manifest-skeleton adapter be useful, and what URDF fields map cleanly? (2) Which capability-manifest fields are genuinely outside URDF (payload, graspable classes, safety envelope), and where should the boundary sit?
Full write-up: https://github.com/URML-MARS/URML/blob/main/docs/rfcs/0460-yourdfpy-outreach.md
Thanks for yourdfpy; a clean Python URDF parser is a great foundation for this kind of adapter.
Ido Yahalomi (URML, greenvh@gmail.com)
AI-assisted prose, maintainer-reviewed before posting (see VIBE.md). Human-only correspondence available on request.
Hi yourdfpy maintainer,
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. URML's reference tooling is Python, so a clean permissive Python URDF parser like yourdfpy is the most natural building block for an adapter that derives or cross-checks URML capability-manifest fields against a URDF.
Nothing here asks the project to adopt, host, or maintain anything. This is a request for comment.
yourdfpy parses a URDF in Python; a URML manifest declares capabilities and a safety envelope. A small adapter could read reach/DOF/joint limits from a yourdfpy model into a URML manifest skeleton, leaving payload, graspable classes, and the safety envelope to explicit declaration. URML's (Python) validator could use yourdfpy to keep a manifest consistent with the robot's URDF. The split: yourdfpy gives the URDF; the manifest gives capability + safety.
Two real questions: (1) Would a thin yourdfpy to URML manifest-skeleton adapter be useful, and what URDF fields map cleanly? (2) Which capability-manifest fields are genuinely outside URDF (payload, graspable classes, safety envelope), and where should the boundary sit?
Full write-up: https://github.com/URML-MARS/URML/blob/main/docs/rfcs/0460-yourdfpy-outreach.md
Thanks for yourdfpy; a clean Python URDF parser is a great foundation for this kind of adapter.
Ido Yahalomi (URML, greenvh@gmail.com)
AI-assisted prose, maintainer-reviewed before posting (see VIBE.md). Human-only correspondence available on request.