Hi LEAP Hand 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. Part of that manifest declares a gripper: its kind, a force range, and the object classes it accepts. That describes a parallel-jaw gripper well. It does not describe a 16-DoF hand like the LEAP Hand, and that gap is exactly why I am writing.
Nothing here asks LEAP Hand to change or maintain anything. This is genuinely a request for comment, and you are better placed than most to answer it.
The honest question: what should a minimal-but-useful dexterous-hand capability declaration contain? Per-finger force, named grasp types (power, pinch, tripod) rather than per-joint commands, in-hand-manipulation flags, something else? Today URML can only declare a hand as a coarse gripper (a lower bound it states honestly), and the LEAP API executes the finger commands. I would rather design the richer declaration with input from people who build and use the hand than guess at it.
Full write-up, with the manifest mapping table: https://github.com/URML-MARS/URML/blob/main/docs/rfcs/0357-leap-hand-outreach.md
Thanks for making a low-cost dexterous hand the whole field can actually get hold of.
Ido Yahalomi (URML, greenvh@gmail.com)
AI-assisted prose, maintainer-reviewed before posting (see VIBE.md). Human-only correspondence available on request.
Hi LEAP Hand 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. Part of that manifest declares a gripper: its kind, a force range, and the object classes it accepts. That describes a parallel-jaw gripper well. It does not describe a 16-DoF hand like the LEAP Hand, and that gap is exactly why I am writing.
Nothing here asks LEAP Hand to change or maintain anything. This is genuinely a request for comment, and you are better placed than most to answer it.
The honest question: what should a minimal-but-useful dexterous-hand capability declaration contain? Per-finger force, named grasp types (power, pinch, tripod) rather than per-joint commands, in-hand-manipulation flags, something else? Today URML can only declare a hand as a coarse gripper (a lower bound it states honestly), and the LEAP API executes the finger commands. I would rather design the richer declaration with input from people who build and use the hand than guess at it.
Full write-up, with the manifest mapping table: https://github.com/URML-MARS/URML/blob/main/docs/rfcs/0357-leap-hand-outreach.md
Thanks for making a low-cost dexterous hand the whole field can actually get hold of.
Ido Yahalomi (URML, greenvh@gmail.com)
AI-assisted prose, maintainer-reviewed before posting (see VIBE.md). Human-only correspondence available on request.