Proposal: PalAdapter family for URML's substrate-neutral robot-intent language (TIAGo / TIAGo Pro / PMB2)

[idoco2003]

Proposing a PalAdapter family targeting your published ROS 2 packages for PMB2 (mobile base), TIAGo (single-arm mobile manipulator), and TIAGo Pro (dual-arm + head). URML Layer-2 primitives (move_to, grasp, release, measure, wait_for, report) plus the industrial-profile extensions (pick_from, place_at, swap_tool) map onto your published joint-trajectory action servers, gripper services, and Nav2-compatible base topics without changes on your side.

URML is an Apache 2.0 specification for substrate-neutral robot intent at urml.dev. PAL fills a distinctive niche in URML's outreach landscape: a commercial mobile-manipulator vendor with a mature ROS 2 ecosystem. URML's prior Move #1 industrial OEMs (Yaskawa, FANUC, UR, etc.) are stationary arms. Move #3's Trossen Interbotix is stationary research arms. Move #1's Boston Dynamics Spot and Move #2's ANYmal are legged platforms without arms. AgileX's mobile bases (parallel RFC-0066) have no arms. PAL's TIAGo and TIAGo Pro are the missing combination: a wheeled mobile base with a torque-controlled manipulator, sold commercially, with full ROS 2 support.

This is proposal-only, posted as part of URML's Move #4 outreach. No adapter code in this PR. The TIAGo variant manifest split (Steel / Iron / Titanium / OMNI / Pro / Pro Head), the safety-field schema (brake_rated, iso_collaborative), and the bimanual-coordination primitive question are observable choices worth your input before shipping.

Full RFC: https://github.com/URML-MARS/URML/blob/main/docs/rfcs/0068-pal-robotics-outreach.md

Feedback we'd value

1. Adapter home. URML repo (reference/pal-runtime/), pal-robotics contributed example, both?
2. Variant manifest granularity. Per-variant manifests (Steel / Iron / Titanium / OMNI / Pro / Pro Head) or a parametric tiago manifest with variant: field?
3. Safety-field schema. Right declarative shape for safety.brake_rated, safety.iso_collaborative, and how to distinguish per-platform capability from per-deployment certification?
4. Bimanual coordination at the ROS 2 layer. Path for a coordinate(arm_left, arm_right, ...) Layer-2 primitive that targets TIAGo Pro's whole-body controller, or stay at the policy / behaviour-tree layer above URML?
5. Whole-body controller cross-link. Interest in coordinating with URML's RFC-0010 spec work on whole-body and bimanual manipulation?
6. Conformance lane. Open to a URML conformance line in TIAGo simulation README or PAL product documentation?

Thanks for the TIAGo / TIAGo Pro / PMB2 ROS 2 stack and for the long-running ecosystem commitment. The safety-rated mobile-manipulator surface is exactly what URML's commercial-research story needs.

Ido Yahalomi (URML maintainer, urml.dev)