Hi TIAGo / PAL Robotics 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. A mobile manipulator is the cleanest exercise of URML — "go to the table and hand me the bottle" combines navigation and manipulation in one sentence — and TIAGo is one of the most widely-used research mobile manipulators. (I'm anchoring this on tiago_robot and referencing tiago_simulation rather than posting to each.)
Nothing here asks the project to adopt, host, or maintain anything. This is a request for comment.
URML's ROS 2 runtime meets TIAGo on its ROS 2 action/service surface; "go to the table and hand me the bottle" lowers onto a move_to (the base) plus a grasp (the arm) — the decide-then-do split made concrete. Validate-before-actuate refuses an undeclared object or out-of-reach grasp before the arm moves. The combined base + torso + arm manifest exercises URML's capability model honestly on a standard research platform.
Two real questions: (1) Is URML's ROS 2 action-surface mapping the right seam for an external validated-intent layer above TIAGo? (2) What should a URML capability manifest declare to describe a TIAGo-class mobile manipulator honestly — drive type, torso lift, arm reach/DOF, gripper + graspable classes, navigation bounds?
Full write-up: https://github.com/URML-MARS/URML/blob/main/docs/rfcs/0423-tiago-outreach.md
Thanks for TIAGo; a standard open research mobile manipulator is a great platform for this kind of work.
Ido Yahalomi (URML, greenvh@gmail.com)
AI-assisted prose, maintainer-reviewed before posting (see VIBE.md). Human-only correspondence available on request.
Hi TIAGo / PAL Robotics 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. A mobile manipulator is the cleanest exercise of URML — "go to the table and hand me the bottle" combines navigation and manipulation in one sentence — and TIAGo is one of the most widely-used research mobile manipulators. (I'm anchoring this on tiago_robot and referencing tiago_simulation rather than posting to each.)
Nothing here asks the project to adopt, host, or maintain anything. This is a request for comment.
URML's ROS 2 runtime meets TIAGo on its ROS 2 action/service surface; "go to the table and hand me the bottle" lowers onto a move_to (the base) plus a grasp (the arm) — the decide-then-do split made concrete. Validate-before-actuate refuses an undeclared object or out-of-reach grasp before the arm moves. The combined base + torso + arm manifest exercises URML's capability model honestly on a standard research platform.
Two real questions: (1) Is URML's ROS 2 action-surface mapping the right seam for an external validated-intent layer above TIAGo? (2) What should a URML capability manifest declare to describe a TIAGo-class mobile manipulator honestly — drive type, torso lift, arm reach/DOF, gripper + graspable classes, navigation bounds?
Full write-up: https://github.com/URML-MARS/URML/blob/main/docs/rfcs/0423-tiago-outreach.md
Thanks for TIAGo; a standard open research mobile manipulator is a great platform for this kind of work.
Ido Yahalomi (URML, greenvh@gmail.com)
AI-assisted prose, maintainer-reviewed before posting (see VIBE.md). Human-only correspondence available on request.