humanoid-runtime

A small, opinionated, human-readable language for describing robot intent.

urml.dev

---

urml-humanoid-runtime

Humanoid reference runtime for URML — DigitAdapter for Agility Robotics Digit.

Of the humanoids on the multi-brand target list, Digit is the only one with a usable public SDK + simulator. Tesla Optimus, Figure, Apptronik Apollo and 1X NEO have no public developer access, so per the plan they are covered manifest + spec only (no adapter — code with nothing to run against would be dishonest). Those manifests land with the Phase-5 Mobility.drive_type RFC, since a humanoid manifest cannot validate until that schema gap is closed.

Design

Digit exposes ROS 2 interfaces, so DigitAdapter composes the ROS 2 runtime's RclpyAdapter — the same single-sourced-substrate pattern the industrial-arm and ANYmal adapters use. Distinct first-class class, brand-scoped not-supported tag, no duplicated ROS 2 plumbing.

v0.1 scope: the locomotion subset

Digit does whole-body manipulation, but URML grasp requires a detected $target and whole-body/bimanual semantics are a deliberate future RFC (per the multi-brand plan: "v0.1 humanoid coverage is the locomotion + single-arm subset"). v0.1 supports the locomotion path and reports the rest honestly:

URML primitive	v0.1
move_to / hover, wait, measure, wait_for, report	delegated to the composed ROS 2 substrate
grasp / release, dock, detect, scan, capture, speak, listen, drone trio	not_supported_on_humanoid[digit]: ... (returned, not raised)

Install / use

pip install -e reference/humanoid-runtime   # needs a sourced ROS 2 env to construct

from urml_conformance import ConformanceRunner
from urml_humanoid_runtime import HUMANOID_ADAPTERS

runner = ConformanceRunner(adapter_factory=lambda: HUMANOID_ADAPTERS["digit"]())

Status

v0.1 (this release):

• DigitAdapter (composes RclpyAdapter, locomotion subset) + HUMANOID_ADAPTERS registry.
• Hermetic unit tests: delegation, every v0.1 not-supported sentinel, the conformance hook, runtime_checkable conformance, context-manager teardown — no ROS 2 install required.
• Gated .github/workflows/humanoid-integration.yml: digit-smoke, digit-arm64-build (hermetic suite under linux/arm64 QEMU), and a digit-sim-e2e that skips cleanly without a sim host (the established px4/ros2 convention).

Follow-ups (not yet):

• US-compliant Digit manifest (Agility — US), plus the manifest+spec-only entries for Tesla Optimus / Figure / Apptronik Apollo / 1X NEO. All blocked on the Phase-5 Mobility.drive_type RFC (no biped/humanoid value); they land with it. Correct sequencing, not a shortcut.
• Whole-body / bimanual manipulation primitives (a separate future RFC); then Digit's manipulation path moves out of not-supported.

Core Commitment

This runtime is part of the Core Commitment. It will always be Apache 2.0. No vendor coupling, no cloud dependency, no enterprise edition.

Related documents

• /reference/ros2-runtime/ — the substrate engine DigitAdapter composes.
• /reference/legged-runtime/ — the sibling family sharing the compose pattern.
• /conformance/ — the test suite that decides conformance.