Hi Shadow Robot team,
URML (urml.dev) is a small, Apache-2.0 language for describing robot intent: English sentence -> typed primitive -> static validation against a capability manifest and a safety envelope -> dispatch. URML's manifest can declare a gripper as a kind plus a force range plus accepted object classes. For the Shadow Dexterous Hand, with 20-plus actuated degrees of freedom, that is clearly too coarse, which is what brings me here.
Nothing here asks Shadow Robot to change or maintain anything. This is a request for comment, and the Shadow Hand is the richest case I have for getting it right.
The honest question: what should a dexterous-hand capability declaration contain so URML can validate a hand request before it runs? Per-finger force and range, named grasp synergies, tactile-feedback availability, coupled-joint structure? Today URML declares the hand as a coarse gripper (a lower bound, stated honestly) and sr_interface executes. I am asking the LEAP Hand maintainers the same question in parallel, since the open dexterous-hand projects are the right people to shape this with.
Full write-up, with the manifest mapping table: https://github.com/URML-MARS/URML/blob/main/docs/rfcs/0358-shadow-robot-outreach.md
Thanks for keeping a serious dexterous hand's ROS stack open.
Ido Yahalomi (URML, greenvh@gmail.com)
AI-assisted prose, maintainer-reviewed before posting (see VIBE.md). Human-only correspondence available on request.
Hi Shadow Robot team,
URML (urml.dev) is a small, Apache-2.0 language for describing robot intent: English sentence -> typed primitive -> static validation against a capability manifest and a safety envelope -> dispatch. URML's manifest can declare a gripper as a kind plus a force range plus accepted object classes. For the Shadow Dexterous Hand, with 20-plus actuated degrees of freedom, that is clearly too coarse, which is what brings me here.
Nothing here asks Shadow Robot to change or maintain anything. This is a request for comment, and the Shadow Hand is the richest case I have for getting it right.
The honest question: what should a dexterous-hand capability declaration contain so URML can validate a hand request before it runs? Per-finger force and range, named grasp synergies, tactile-feedback availability, coupled-joint structure? Today URML declares the hand as a coarse gripper (a lower bound, stated honestly) and sr_interface executes. I am asking the LEAP Hand maintainers the same question in parallel, since the open dexterous-hand projects are the right people to shape this with.
Full write-up, with the manifest mapping table: https://github.com/URML-MARS/URML/blob/main/docs/rfcs/0358-shadow-robot-outreach.md
Thanks for keeping a serious dexterous hand's ROS stack open.
Ido Yahalomi (URML, greenvh@gmail.com)
AI-assisted prose, maintainer-reviewed before posting (see VIBE.md). Human-only correspondence available on request.