Hi BiDexHand maintainer,
URML (urml.dev) is a small, Apache-2.0 language for robot intent: an action becomes a typed primitive, validated against declared capabilities and a safety envelope, and only then dispatched. BiDexHand is a 16-DoF cable-driven hand with fingertip force sensing, which makes it a particularly clean target: the force sensing is the runtime side of a property URML can also check statically. This is a request for comment.
Nothing here asks the project to adopt, host, or maintain anything.
The seam: URML has a dexterous gripper kind with a dexterity declaration (DoF, finger count, supported grasp types) and a grasp-force envelope. URML validates that a grasp intent stays inside the declared force envelope before dispatch; your fingertip force sensing is the runtime side of the same property. The static check refuses an over-force grasp before the cables move; the sensors stay yours. A declared envelope plus a hand that measures force is a natural pairing, and the 16 DoF map onto the dexterity declaration directly.
Two real questions: (1) is a typed grasp-intent layer useful above your ROS 2 control modes (PID, Cartesian, shadowing)? (2) Does the hand's DoF and grasp-type set map onto URML's dexterity declaration cleanly, and does the fingertip force sensing line up with a declared grasp-force envelope?
Full write-up: https://github.com/URML-MARS/URML/blob/main/docs/rfcs/0626-bidexhand-outreach.md
Thanks for BiDexHand; a cable-driven hand that senses fingertip force is exactly where a declared envelope and a runtime monitor reinforce each other.
Ido Yahalomi (URML, greenvh@gmail.com)
AI-assisted prose, maintainer-reviewed before posting (see https://github.com/URML-MARS/URML/blob/main/VIBE.md). Human-only correspondence available on request.
Hi BiDexHand maintainer,
URML (urml.dev) is a small, Apache-2.0 language for robot intent: an action becomes a typed primitive, validated against declared capabilities and a safety envelope, and only then dispatched. BiDexHand is a 16-DoF cable-driven hand with fingertip force sensing, which makes it a particularly clean target: the force sensing is the runtime side of a property URML can also check statically. This is a request for comment.
Nothing here asks the project to adopt, host, or maintain anything.
The seam: URML has a dexterous gripper kind with a dexterity declaration (DoF, finger count, supported grasp types) and a grasp-force envelope. URML validates that a grasp intent stays inside the declared force envelope before dispatch; your fingertip force sensing is the runtime side of the same property. The static check refuses an over-force grasp before the cables move; the sensors stay yours. A declared envelope plus a hand that measures force is a natural pairing, and the 16 DoF map onto the dexterity declaration directly.
Two real questions: (1) is a typed grasp-intent layer useful above your ROS 2 control modes (PID, Cartesian, shadowing)? (2) Does the hand's DoF and grasp-type set map onto URML's dexterity declaration cleanly, and does the fingertip force sensing line up with a declared grasp-force envelope?
Full write-up: https://github.com/URML-MARS/URML/blob/main/docs/rfcs/0626-bidexhand-outreach.md
Thanks for BiDexHand; a cable-driven hand that senses fingertip force is exactly where a declared envelope and a runtime monitor reinforce each other.
Ido Yahalomi (URML, greenvh@gmail.com)
AI-assisted prose, maintainer-reviewed before posting (see https://github.com/URML-MARS/URML/blob/main/VIBE.md). Human-only correspondence available on request.