Proposal: RobotisAdapter family for URML's substrate-neutral robot-intent language (TurtleBot 3 + OP3 + OpenManipulator + Dynamixel SDK)

[idoco2003]

Proposing a RobotisAdapter family that targets four published ROBOTIS-GIT surfaces: turtlebot3 (mobile base), turtlebot3_manipulation, the OP3 humanoid line (newly ROS 2 in 2025), and the dynamixel_sdk servo backbone. The adapter routes URML Layer-2 primitives (move_to, grasp, release, measure, wait_for, report) onto your published ROS 2 topics and Dynamixel protocol calls without changes on your side.

URML is an Apache 2.0 specification for substrate-neutral robot intent. Its Layer-2 primitive vocabulary sits one layer above ROS 2 / PX4 / Isaac / MuJoCo / AUTOSAR Adaptive / OPC UA Robotics. A program written for a TurtleBot 3 retargets to an OP3 humanoid or an OpenManipulator-X arm by switching the manifest, with static validation at every step.

Cross-link worth flagging: URML's existing outreach to Trossen Robotics Interbotix (RFC-0064), Stanford ALOHA (RFC-0056), and Hugging Face LeRobot (RFC-0040) all transitively depend on Dynamixel servos. The ROBOTIS-side relationship has never been directly engaged; this RFC closes that loop.

This is proposal-only, posted as URML's first Move #4 outreach (adjacent niches Moves #1, #2, and #3 did not touch). No adapter code in this PR. The TurtleBot 3 variant manifest split, the OP3 motion-surface choice, and the Dynamixel SDK cross-link are observable choices worth your input before shipping.

Full RFC with proposed package layout, per-primitive mapping, manifest sketches, drawbacks, and alternatives:

https://github.com/URML-MARS/URML/blob/main/docs/rfcs/0065-robotis-outreach.md

Feedback we'd value

1. Adapter home. URML repo (reference/robotis-runtime/), ROBOTIS-GIT contributed example, both?
2. OP3 motion surface. OP3 motion-module topic for URML's move_to dispatch, or a higher-level walk-engine interface?
3. Dynamixel cross-link. Interest in a documented dynamixel_sdk README note acknowledging the URML adapters that transitively depend on it?
4. TurtleBot 3 variants. Per-variant manifests (Burger / Waffle / Waffle Pi) or parametric?
5. OpenCR firmware coverage. Stock-only or document a custom-firmware path?
6. Conformance lane. Open to a URML conformance line on the turtlebot3 README or in the OP3 emanual?

Thanks for the TurtleBot 3 / OP3 / Dynamixel ecosystem and for the OP3 2025 ROS 2 reboot. The institutional weight across global robotics education is exactly what URML's open-standard story needs.

Ido Yahalomi (URML maintainer, urml.dev)