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README.md

URML

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

urml.dev

urml-mobile-runtime

Wheeled-AMR reference runtime for URML — HuskyAdapter and JackalAdapter for Clearpath Husky / Jackal, the canonical ROS 2 differential-drive research/field bases.

Husky and Jackal speak ROS 2 + Nav2, so each adapter composes the ROS 2 runtime's RclpyAdapter — the same single-sourced-substrate pattern the industrial-arm, ANYmal, and Digit families use. Distinct first-class classes, brand-scoped not-supported tag, no duplicated Nav2 plumbing. differential drive_type is already in the v0.1 manifest schema, so this needs no RFC.

Method coverage

move_to/hover, wait, measure, wait_for, report delegate to the composed ROS 2 substrate. grasp/release, dock, detect, scan, capture, speak, listen, and the drone trio return not_supported_on_amr[<brand>] (returned, not raised). A Clearpath base carrying a UR/Franka arm + Robotiq gripper (a common mobile-manipulator config) pairs with an industrial-arm companion adapter, exactly as the drone stack pairs flight with a companion.

Declared "parts"

The companion fixture clearpath_husky manifest declares parts as first-class provenance components: a Robotiq 2F-85 gripper (Canada), an Intel RealSense D435 (US), and a Clearpath base (Canada) — all compliant under the bundled US-federal default policy. Its negative twin hesai_lidar_denied swaps in one critical Hesai LIDAR (FCC Covered List) and is rejected with policy.vendor_denied, pushing the denylisted-vendor check down to component granularity (cf. home/policy_vendor_denylist, quadruped/unitree_vendor_denied).

Install / use

pip install -e reference/mobile-runtime   # needs a sourced ROS 2 env to construct
from urml_conformance import ConformanceRunner
from urml_mobile_runtime import MOBILE_ADAPTERS

runner = ConformanceRunner(adapter_factory=lambda: MOBILE_ADAPTERS["husky"]())

Status

v0.1 (this release):

  • HuskyAdapter + JackalAdapter over a shared ClearpathAdapter core (composes RclpyAdapter) + MOBILE_ADAPTERS registry.
  • Hermetic unit tests: delegation, every not-supported sentinel, the conformance hook, runtime_checkable conformance, teardown — no ROS 2 install required.
  • clearpath_husky (compliant parts) + hesai_lidar_denied (denied part) manifests + conformance/fixtures/mobile/ positive & negative fixtures, verified through the conformance runner.
  • Gated .github/workflows/mobile-integration.yml: mobile-smoke, mobile-arm64-build (hermetic suite under linux/arm64 QEMU — the Jetson-class signal), and a matrixed mobile-sim-e2e against the Clearpath Gazebo sim (first runs per brand are calibration runs by design, the established ros2-integration convention).

Follow-ups (not yet):

  • A mobile-manipulator composite (Clearpath base + UR/Franka arm) wiring, analogous to the industrial vision-companion split.

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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