Hi Pink maintainers,
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 declares a target and capability; it does not solve IK. Pink solves differential IK as a QP over tasks, built on Pinocchio, which is exactly the kind of solver URML would hand a validated target to.
Nothing here asks Pink to change or maintain anything. This is a request for comment.
Two real questions. First, what is the cleanest way for URML to express a target as a Pink task set (a frame task plus the relevant posture and limit tasks), so URML stays the intent layer and Pink stays the solver? Second, URML declares capability limits (reachable workspace, and with the envelope, joint and velocity limits): how should those map onto Pink's limit configuration so a request URML has validated is one Pink can take as well-posed? For context, I am reaching the MuJoCo-based sibling mink separately, and TRAC-IK for the global pose-to-config case.
Full write-up, with the manifest mapping table: https://github.com/URML-MARS/URML/blob/main/docs/rfcs/0353-pink-outreach.md
Thanks for Pink, and for how readable the task-based formulation is.
Ido Yahalomi (URML, greenvh@gmail.com)
AI-assisted prose, maintainer-reviewed before posting (see VIBE.md). Human-only correspondence available on request.
Hi Pink maintainers,
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 declares a target and capability; it does not solve IK. Pink solves differential IK as a QP over tasks, built on Pinocchio, which is exactly the kind of solver URML would hand a validated target to.
Nothing here asks Pink to change or maintain anything. This is a request for comment.
Two real questions. First, what is the cleanest way for URML to express a target as a Pink task set (a frame task plus the relevant posture and limit tasks), so URML stays the intent layer and Pink stays the solver? Second, URML declares capability limits (reachable workspace, and with the envelope, joint and velocity limits): how should those map onto Pink's limit configuration so a request URML has validated is one Pink can take as well-posed? For context, I am reaching the MuJoCo-based sibling mink separately, and TRAC-IK for the global pose-to-config case.
Full write-up, with the manifest mapping table: https://github.com/URML-MARS/URML/blob/main/docs/rfcs/0353-pink-outreach.md
Thanks for Pink, and for how readable the task-based formulation is.
Ido Yahalomi (URML, greenvh@gmail.com)
AI-assisted prose, maintainer-reviewed before posting (see VIBE.md). Human-only correspondence available on request.