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README.md

URML

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

urml.dev

urml-legged-runtime

Legged/quadruped reference runtime for URML — first-class adapters for Boston Dynamics Spot and ANYbotics ANYmal.

Two vendors, two substrates, the same ROSAdapter Protocol:

  • SpotAdapter talks the Boston Dynamics bosdyn gRPC SDK directly. No ROS 2 dependency — like PX4Adapter for MAVLink, it is a second proof that URML's spec carries no ROS assumptions. Spot's own companion computer is commonly a Jetson, so the offline, Jetson-class deployment story is native here.
  • AnymalAdapter speaks ROS 2, so it composes the ROS 2 runtime's RclpyAdapter — the same single-sourced-substrate pattern the industrial-arm runtime uses. No duplicated ROS 2 plumbing.

Method coverage

SpotAdapter (bosdyn):

URML primitive Mapping
move_to / hover GraphNav navigate-to (location → waypoint via SpotConfig)
dock bosdyn.client.docking blocking dock
wait held stand command
measure robot-state telemetry (battery / e-stop) — partial
wait_for robot-state poll — partial
report structured record to a local sink (no cloud)
scan documented not-supported result: no area-scan controller (a scan is waypoints plus a capture at each one)

Not supported on a bare Spot — grasp/release (needs the Spot Arm SDK), detect, capture, speak, listen, and the drone trio — return not_supported_on_spot: ... (returned, not raised).

AnymalAdapter (composes RclpyAdapter): move_to/hover, wait, measure, wait_for, report delegate to the ROS 2 substrate. grasp/release (no arm), dock, detect, scan, capture, speak, listen, and the drone trio return not_supported_on_quadruped[anymal]: .... A payload-equipped ANYmal pairs with a companion adapter, exactly as the drone stack pairs flight with a ROS 2 companion.

Install

pip install -e reference/legged-runtime          # AnymalAdapter (needs a sourced ROS 2 env to construct)
pip install -e reference/legged-runtime[spot]    # + SpotAdapter (bosdyn wheels)

bosdyn and rclpy are imported lazily, so the package imports on every host; constructing an adapter needs that vendor's runtime.

Use

from urml_legged_runtime import SpotAdapter, SpotConfig

cfg = SpotConfig(hostname="192.168.80.3", location_to_waypoint={"dock": "wp-12"})
with SpotAdapter(cfg) as spot:                       # credentials read from env-var NAMES in cfg
    assert spot.send_navigation_goal(location="dock").success
from urml_conformance import ConformanceRunner
from urml_legged_runtime import LEGGED_ADAPTERS

runner = ConformanceRunner(adapter_factory=lambda: LEGGED_ADAPTERS["spot"]())

Status

v0.1 (this release):

  • SpotAdapter (standalone bosdyn) + AnymalAdapter (composes RclpyAdapter) + LEGGED_ADAPTERS registry.
  • Hermetic unit tests: Spot against an injected fake bosdyn (navigation, dock, wait, measure, scan (not supported), every not-supported sentinel, lifecycle power-off, the missing-[spot]-extra error); ANYmal against an injected fake inner (delegation + not-supported + conformance hook + runtime_checkable).
  • Gated .github/workflows/legged-integration.yml: spot-smoke (real bosdyn wheels), spot-arm64-build (the bosdyn stack under linux/arm64 QEMU — the Jetson-companion signal, mirroring px4-arm64-build), and a gated legged-sim-e2e matrix that skips cleanly without a sim/credential.

Follow-ups (not yet):

  • US-compliant capability manifests (Boston Dynamics — US/Hyundai-owned; ANYbotics — Switzerland). Blocked on the Mobility.drive_type schema, which has no legged/quadruped value; that is the Phase-5 RFC fast-follow. Quadruped conformance fixtures land with the RFC, not before (correct sequencing, not a shortcut).
  • Spot Arm SDK wiring for grasp/release; a vision/speech companion split.
  • A real Spot sim path: Boston Dynamics' public sim is weaker than PX4 SITL and Isaac-Sim Spot needs an RTX host (never the Jetson). Until that or hardware exists, the Spot integration lane is honestly the hermetic fake-bosdyn path; the gated sim job skips cleanly.

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.

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