Hi Isaac Sim 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 composes above the simulator: validated intent -> a controller -> Isaac Sim via the ROS 2 bridge / Action Graph -> a simulated robot.
To be clear about scope: I have a separate, earlier thread with Isaac Lab (RFC-0050) about the RL training framework. This one is specifically about Isaac Sim as the simulator application, a distinct conversation, not a re-pitch of that relationship.
Nothing here asks Isaac Sim to change or maintain anything. Two real questions. First, is the ROS 2 bridge the right boundary for "URML primitive -> Isaac Sim", or is there a more idiomatic Action Graph entry point? Second, URML's capability manifest needs to align with a robot description; for Isaac Sim that is USD. What grain of USD robot-description alignment would be most useful from your side?
Full write-up, with the manifest mapping table: https://github.com/URML-MARS/URML/blob/main/docs/rfcs/0323-nvidia-isaac-sim-outreach.md
One small thing: the GitHub API did not surface an SPDX license id at our verification time. What is the current license?
Thanks for open-sourcing Isaac Sim. It changes what an open NL-to-sim demo can look like.
Ido Yahalomi (URML, greenvh@gmail.com)
AI-assisted prose, maintainer-reviewed before posting (see VIBE.md). Human-only correspondence available on request.
Hi Isaac Sim 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 composes above the simulator: validated intent -> a controller -> Isaac Sim via the ROS 2 bridge / Action Graph -> a simulated robot.
To be clear about scope: I have a separate, earlier thread with Isaac Lab (RFC-0050) about the RL training framework. This one is specifically about Isaac Sim as the simulator application, a distinct conversation, not a re-pitch of that relationship.
Nothing here asks Isaac Sim to change or maintain anything. Two real questions. First, is the ROS 2 bridge the right boundary for "URML primitive -> Isaac Sim", or is there a more idiomatic Action Graph entry point? Second, URML's capability manifest needs to align with a robot description; for Isaac Sim that is USD. What grain of USD robot-description alignment would be most useful from your side?
Full write-up, with the manifest mapping table: https://github.com/URML-MARS/URML/blob/main/docs/rfcs/0323-nvidia-isaac-sim-outreach.md
One small thing: the GitHub API did not surface an SPDX license id at our verification time. What is the current license?
Thanks for open-sourcing Isaac Sim. It changes what an open NL-to-sim demo can look like.
Ido Yahalomi (URML, greenvh@gmail.com)
AI-assisted prose, maintainer-reviewed before posting (see VIBE.md). Human-only correspondence available on request.