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

urml.dev

urml-cobot-runtime

Collaborative-arm reference runtime for URML — UrRtdeAdapter (Universal Robots / RTDE) + FrankaFciAdapter (Franka / FCI via panda-py), zero ROS.

The two most-deployed cobots, driven by their native SDKs with no ROS — the proof that the popular real arms need no ROS. industrial-arm-runtime's Ur/FrankaAdapter compose RclpyAdapter (ROS 2 + MoveIt 2); these are the ROS-free siblings, exactly as marine-runtime is the ROS-free sibling of ros2-runtime. Both mirror BlueRovAdapter: lazy vendor SDK, cached lazy connection, failures returned not raised. Built against the frozen Protocol per RFC-0014.

Method coverage (both adapters)

dock, detect, capture, speak, listen return not_supported_on_bare_cobot (pair a station/vision/HMI companion). The drone trio returns not_applicable_cobot.

Spec gaps (RFC-0014 protocol)

One genuinely inexpressible need filed as RFC-0017 (Draft) — raw digital-I/O tool actuation (not grasp, not a station service). Force/impedance beyond scalar force_n is a documented watch-item (no RFC); joint-space waypoints are absorbed by config (no gap). See SPEC-GAPS.md.

Install / use

pip install -e reference/cobot-runtime[ur]      # Universal Robots (ur_rtde)
pip install -e reference/cobot-runtime[franka]  # Franka (panda-python, Apache-2.0)

from urml_cobot_runtime import UrRtdeAdapter, CobotConfig
from urml_cobot_runtime.adapter import Pose
cfg = CobotConfig(robot_ip="192.168.1.10",
                  location_to_pose={"pick": Pose(vector=[0.4, -0.3, 0.1, 0, 3.14, 0])})
with UrRtdeAdapter(cfg) as ur:
    assert ur.send_navigation_goal(location="pick").success

Status

v0.1 (this release):

• UrRtdeAdapter + FrankaFciAdapter + CobotConfig (native SDKs, no ROS). cobot_cell US-provenance manifest + conformance/fixtures/industrial/08_cobot_cell_positive.yaml (RFC-0013 pick_from/place_at) verified through the runner (hermetic against MockROSAdapter; adapter-agnostic against the cobot adapters).
• Hermetic unit tests for both adapters: nav (configured + unmapped), grasp/release, measure, scan-stub, lifecycle, the not-supported / not-applicable sentinels, the missing-[ur]/[franka]-extra errors, the conformance hook — no vendor SDK install required.
• Gated .github/workflows/cobot-integration.yml: cobot-smoke (real SDKs), cobot-arm64-build (Jetson-class QEMU), cobot-controller-e2e placeholder against a real UR/Franka (first run is a calibration run by design).

Follow-ups (not yet): RFC-0017 outcome (digital I/O); real Robotiq/Franka-gripper wiring beyond the v0.1 gripper command.

Core Commitment

Apache 2.0. Outside the Core Commitment boundary (only ROS 2 + PX4 are named there) but carries the same no-vendor-coupling, no-cloud, no-enterprise-edition posture. panda-py is Apache-2.0; ur_rtde is an optional [ur] extra imported lazily, never at module load (the rclpy/pymavlink posture).

Related documents

• /reference/marine-runtime/ — the zero-ROS sibling whose structure this mirrors.
• /reference/industrial-arm-runtime/ — the ROS 2 + MoveIt 2 Ur/Franka adapters this is the ROS-free sibling of.
• /docs/rfcs/0017-digital-io-actuation.md — the surfaced spec gap.