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

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urml-autosar-runtime

Industrial-automation reference runtime for URML — AutosarAdaptiveAdapter for AUTOSAR Adaptive cells, via ara.

AUTOSAR Adaptive is the universal factory-floor / PLC companion spec. This adapter is the industrial-automation analog of the PX4/marine no-ROS proof and mirrors BlueRovAdapter: lazy ara, no ROS 2 dependency, a lazily-opened cached client, failures returned not raised. It hits the manufacturer / federal-procurement wedge (RFC-0007) and complements the shipped industrial-arm family + RFC-0013 primitives. Built against the frozen substrate Protocol per RFC-0014.

Method coverage

detect, capture, speak, listen return not_supported_on_autosar_ecu_cell (pair a vision/HMI companion). The drone trio returns not_applicable_autosar.

Spec gaps (RFC-0014 protocol)

This runtime surfaced two genuinely inexpressible needs — filed as RFC-0015 (ara::com Method/PLC-method invocation) and RFC-0016 (real-time/cyclic manifest block), both Draft, maintainer-decided. They are not silently bolted on. See SPEC-GAPS.md, which also flags the ara LGPL-3.0 optional-dependency posture for maintainer ratification.

Install / use

pip install -e reference/autosar-runtime[autosar]   # installs ara

from urml_autosar_runtime import AutosarAdaptiveAdapter, AutosarConfig
from urml_autosar_runtime.adapter import MethodTarget
cfg = AutosarConfig(location_to_method={"pick_bin": MethodTarget(method="sid=MoveTo", args=["pick_bin"])})
with AutosarAdaptiveAdapter(cfg) as cell:
    assert cell.send_navigation_goal(location="pick_bin").success

Status

v0.1 (this release):

• AutosarAdaptiveAdapter + AutosarConfig (ara, no ROS). autosar_ecu_cell US-provenance manifest + conformance/fixtures/industrial/07_autosar_ecu_cell_positive.yaml (RFC-0013 pick_from/place_at) verified through the runner (hermetic against MockROSAdapter; adapter-agnostic against AutosarAdaptiveAdapter).
• Hermetic unit tests: nav (configured + unmapped), dock/swap_tool, grasp, measure, scan-stub, lifecycle, the unconfigured / not-supported / not-applicable sentinels, the missing-[autosar]-extra error, the conformance hook — no ara install required.
• Gated .github/workflows/autosar-integration.yml: autosar-smoke (real ara), autosar-arm64-build (the Jetson-class QEMU signal), autosar-server-e2e against a local ara server (first run is a calibration run by design — the established px4/ros2/marine convention).

Follow-ups (not yet): RFC-0015/0016 outcomes; a bundled ara demo server for the e2e.

Core Commitment

Apache 2.0. Outside the Core Commitment boundary (only ROS 2 + PX4 reference runtimes are named there) but carries the same no-vendor-coupling, no-cloud, no-enterprise-edition posture. ara is an LGPL-3.0 optional dependency — see SPEC-GAPS.md.

Related documents

• /reference/marine-runtime/ — the zero-ROS sibling whose structure this mirrors.
• /docs/rfcs/0014-substrate-conformance.md — the conformance contract.
• /docs/rfcs/0015-control-program-invocation.md · /docs/rfcs/0016-realtime-cyclic-manifest-block.md — the surfaced spec gaps.