rfcs

A small, opinionated, human-readable language for describing robot intent.

urml.dev

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URML RFCs

This directory is URML's decision history. Every change to the specification — adding or modifying a primitive, changing a schema, modifying behavior semantics, changing a profile, modifying the Core Commitment — happens here, not in a pull request.

The authoritative description of how RFCs work is RFC-0001. This file is just the index.

Two kinds of RFC live here

The docs/rfcs/ dir now holds two distinct kinds of document, marked by the Kind column in the index below:

• Spec — changes URML's normative surface: Layer-1/2/3/4 schemas, new primitives, policy mechanism, profiles, the Core Commitment. These are RFCs in the canonical sense (RFC-0001 governs them) and going through Draft → Open → Accepted → Implemented is the way the specification changes. Numbered 0001–0022 at time of writing.
• Outreach — per-target request-for-comment documents. Each one explicitly states "No spec change is proposed here" and proposes a mapping from URML v0.1 to an existing target's adapter / manifest / API. They live in this directory for ergonomic discoverability (one place to find "URML's pitch to target X") and are tracked operationally in the outreach ledgers under examples/lighthouses/. Eight outreach waves now exist: Move #1 (RFCs 0023–0038, robot OEMs and component vendors, ledger outreach.yaml), Move #2 (RFCs 0040–0060, AI/ML-layer projects, ledger outreach-move2.yaml), Move #3 (RFCs 0061–0064, affordable / desktop / educational robotics vendors, ledger outreach-move3.yaml), Move #4 (RFCs 0065–0070, adjacent niches Moves #1–#3 did not touch, ledger outreach-move4.yaml), Move #5 (RFCs 0071–0079, Tier 2 promoted candidates plus DEEP Robotics' Lynx S10 wheeled-legged-hybrid debut, ledger outreach-move5.yaml), Move #6 (RFCs 0080–0091, US-friendly university robotics labs, ledger outreach-move6.yaml), Move #7 (RFCs 0092–0099, agriculture-robotics second wave, ledger outreach-move7.yaml), Move #8 (RFCs 0100–0107, home-assistance robotics + parts, ledger outreach-move8.yaml), Move #9 (RFC 0108 first, NASA robotics, ledger outreach-move9.yaml), and Move #10 (RFCs 0109–0137, perception vendors — cameras and sensors, ledger outreach-move10.yaml). Move #3 sits between the Tier-1 OEMs of Move #1 and the AI/ML targets of Move #2. Move #4 widens the substrate set into verticals and audiences URML's first three waves left untouched. Move #5 promotes the parked Tier 2 from the Move #4 research pass. Move #6 turns to university robotics labs (6 US, 4 EU+UK, 2 Asia-Pacific), all Tier B research-collab framing rather than vendor outreach. Move #7 widens the agriculture surface first opened by Move #4 RFC-0067 (FarmBot) to eight new targets across solar-powered rovers, ag-drones, commercial cobots, US + EU academic ag-robotics labs, off-GitHub educational platforms, and the European Field Robot Event competition (3 Tier A vendor-style + 5 Tier B research-collab). Move #8 opens the home- assistance vertical: eight new targets across consumer cleaning robots (Roomba), outdoor home robots (Husqvarna Automower), hospitality cobots (Bear Robotics), pool cleaning (Maytronics Dolphin), servo (ROBOTIS Dynamixel) + perception (Luxonis OAK-D) component vendors, the Home Assistant orchestration hub, and the OpenVoiceOS voice stack (5 Tier A vendor-style + 3 Tier B research-collab + community). Move #9 opens URML's first dedicated NASA-robotics wave: three Tier A targets identified via a verified 2026-05-27 shortlist of JPL / Ames Apache-2.0 robotics projects (nasa-jpl/rosa NL-driven ROS agent, nasa/fprime flight-software framework with ROS 2 bridge, nasa/astrobee ISS free-flyer); sequencing leads with ROSA alone (RFC-0108, the closest single-repo semantic overlap with URML's reason for existing across nine outreach waves), with F Prime + Astrobee follow-ons once ROSA lands. Move #10 is URML's largest single Move yet: a 50-candidate perception-vendor sweep verified 2026-05-27 across 15 sensor sub-categories (RGB-D, industrial 3D vision, lidar, event cameras, ToF, thermal/IR, IMU/INS, GNSS/RTK, force/torque, radar, underwater/sonar, tactile, hyperspectral, environmental, encoder/position). Engageable subset is 29 (17 Tier A vendor-style + 12 Tier B research-collab); the audit trail for the 21 Tier C exclusions lives in perception-vendors-research-2026-05-27.md. RFC numbers 0109–0137 reserved; each draft is a future session. Do not interpret outreach RFCs as a quiet expansion of URML's spec surface.

Index

#	Kind	Title	State	Last updated
0000	—	RFC template	Template (not an RFC)	—
0001	Spec	RFC process	Accepted	Phase 0
0002	Spec	Initial Layer-2 primitive vocabulary	Implemented	2026-05-17
0003	Spec	Strategic realignment — URML aligns with US federal robotics regulation	Accepted	2026-05-13
0004	Spec	Compliance policy enforcement	Accepted	2026-05-13
0005	Spec	Structured HBOM parsing for Pass 5 (opt-in CycloneDX content predicates; deny-list by country/vendor, pedigree-walked)	Implemented	2026-06-12
0006	Spec	Connectivity as an abstract capability and link-loss as a validated safety contract	Implemented	2026-05-16
0007	Spec	Manufacturer go-to-market: URML as an opportunity and a channel for robot OEMs and component makers	Implemented	2026-05-16
0008	Spec	Community Discussions: a public Q&A and feedback channel brought forward into Phase 0	Implemented	2026-05-16
0009	Spec	Legged and humanoid mobility in the capability manifest	Implemented	2026-05-19
0010	Spec	Whole-body and bimanual manipulation	Implemented	2026-06-04
0011	Spec	Educational profile	Accepted	2026-05-19
0012	Spec	Research profile	Accepted	2026-05-19
0013	Spec	Industrial-profile Layer-2 primitives — pick_from, place_at, swap_tool	Implemented	2026-05-19
0014	Spec	Substrate conformance — what makes a runtime URML-compatible; the six-clause contract + two tiers (self-reported / URML-Certified) + the normative spec-gap loop, shipped as spec/conformance/v0.1.0.md	Implemented	2026-06-06
0015	Spec	Control-program invocation — calling a named substrate program	Open	2026-05-29
0016	Spec	Real-time / cyclic timing declaration in the capability manifest (optional realtime block: cyclic_period/watchdog/RPI/guarantee + watchdog>=cycle coherence check)	Implemented	2026-06-06
0017	Spec	Digital-I/O actuation — set_output drives a manifest-declared digital/analog output line (glue gun, solenoid, sprayer relay, MCU GPIO, PLC handshake); capability-gated by outputs.lines[], range/type-checked at Pass 2	Implemented	2026-06-07
0018	Spec	Minimal-MCU capability subset — optional minimal_node block (class + declared_sensors/outputs + has_locomotion) for non-mobile sensor/actuator nodes; mutually exclusive with mobility, declared outputs ↔ RFC-0017 outputs.lines; declarative (no primitive), pairs with set_output	Implemented	2026-06-12
0019	Spec	AUTOSAR Adaptive substrate — binding ara::com to URML; an optional ara_com binding (service/instance/method id triple) on RFC-0015 programs, Pass-2 completeness check; rides call_program (no new primitive) + realtime (RFC-0016) for cyclic timing	Implemented	2026-06-06
0020	Spec	Autoware AV substrate — research-grade autonomous-vehicle profile; two new Layer-2 primitives (plan_path compute + follow_trajectory actuate), the trajectory binding type, an av manifest block (HD map / ODD / MRM), and the av profile; executors via an optional TrajectoryAdapter capability Protocol	Implemented	2026-06-06
0021	Spec	On-device LLM bridge — llama_cpp + ollama providers, schema-derived GBNF (grammar.schema_to_gbnf), GGUF interchange (Layer-4 §2.3/§2.4), + a backend-neutral conformance/llm-bridge/ scoring sub-suite with one hermetic echo row	Implemented	2026-06-07
0022	Spec	Warehouse domain profile — mixed-traffic AMR aisles, multi-agent handoff, required people_occupancy_zones; zero new primitives/schema/validator code (profile spec + warehouse manifest/envelope fixtures + 8 conformance fixtures + urml init template + example)	Implemented	2026-06-12
0023	Outreach	Yaskawa / MotoROS2 integration — request for comment from Yaskawa-Global maintainers	Draft	2026-05-22
0024	Outreach	Universal Robots integration — same robot, two URML adapters; request for comment from UniversalRobots maintainers	Draft	2026-05-22
0025	Outreach	KUKA integration — request for comment from kroshu/kuka_drivers maintainers	Draft	2026-05-22
0026	Outreach	Stäubli integration — request for comment from ros-industrial/staubli_val3_driver maintainers	Draft	2026-05-22
0027	Outreach	Mitsubishi MELFA integration — request for comment from Mitsubishi-Electric-Asia maintainers	Draft	2026-05-22
0028	Outreach	FANUC integration — request for comment from FANUC-CORPORATION/fanuc_driver maintainers	Draft	2026-05-22
0029	Outreach	Kawasaki integration — request for comment from Kawasaki-Robotics/khi_ros2 maintainers	Draft	2026-05-22
0030	Outreach	Denso integration — request for comment from DENSORobot/denso_robot_ros2 maintainers	Draft	2026-05-22
0031	Outreach	SCHUNK integration — request for comment from SCHUNK-SE-Co-KG maintainers	Draft	2026-05-22
0032	Outreach	Ouster integration — request for comment from ouster-lidar/ouster-sdk maintainers	Draft	2026-05-22
0033	Outreach	SICK integration — request for comment from SICKAG/sick_safetyscanners2 maintainers	Draft	2026-05-22
0034	Outreach	Festo integration — request for comment from Festo-se maintainers	Draft	2026-05-22
0035	Outreach	Zivid integration — request for comment from zivid/zivid-python maintainers	Draft	2026-05-22
0036	Outreach	Hokuyo integration — request for comment from Hokuyo-aut/urg_node2 maintainers	Draft	2026-05-22
0037	Outreach	OSRF / Gazebo Sim integration — proposal-only RFC; request for comment from gazebosim maintainers	Draft	2026-05-22
0038	Outreach	ROS-Industrial Consortium alignment — institutional umbrella RFC; closes the Move #1 16-vendor lighthouse program	Draft	2026-05-22
0039	Spec	Sensor schema v0.2 iteration — point-cloud type, beam_count, channels, time_sync_methods, rate_hz_max (from Ouster maintainer feedback)	Implemented	2026-05-22
0040	Outreach	Hugging Face LeRobot integration — first Move #2 RFC; proposal-only bridge; request for comment from huggingface/lerobot maintainers	Draft	2026-05-23
0041	Outreach	ArduPilot integration; Move #1 follow-on; proposal-only bridge; request for comment from ArduPilot/ardupilot maintainers	Draft	2026-05-23
0042	Outreach	Waymo Open Dataset conformance demonstration; proposal-only; request for comment from waymo-research maintainers	Draft	2026-05-23
0043	Outreach	Boston Dynamics Spot integration; Move #1 follow-on; shipping SpotAdapter; request for comment from boston-dynamics SDK maintainers	Draft	2026-05-23
0044	Outreach	AWS Robotics simulation worlds conformance lane; proposal-only; request for comment from aws-robotics maintainers	Draft	2026-05-23
0045	Outreach	Physical Intelligence (openpi) integration; Move #2 RFC; proposal-only bridge via the Inputs / Outputs extension pattern; request for comment from Physical-Intelligence/openpi maintainers	Draft	2026-05-23
0046	Outreach	Open X-Embodiment integration; Move #2 RFC; proposal-only URML annotation schema for OXE trajectories; primary public touch with Google DeepMind; request for comment from OXE governance	Draft	2026-05-23
0047	Outreach	Allen Institute MolmoAct integration; Move #2 RFC; proposal-only bridge with preview-and-correct loop; request for comment from Ai2 Embodied AI initiative	Draft	2026-05-23
0048	Outreach	Anthropic integration via MCP and Agent Skills; Move #2 RFC; proposal-only (URML as MCP server + URML as Agent Skill); request for comment from Anthropic	Draft	2026-05-23
0049	Outreach	ANYbotics ANYmal integration; Move #1 follow-on; shipping AnymalAdapter; closes the legged-quadruped pair with RFC-0043; request for comment from ANYbotics maintainers	Draft	2026-05-23
0050	Outreach	NVIDIA Isaac integration (Isaac Lab + Isaac-GR00T); proposal-only two-vector urml-isaac-bridge; URML as substrate-neutral vocabulary above NVIDIA's stack; request for comment from isaac-sim and NVIDIA Isaac-GR00T maintainers	Draft	2026-05-23
0051	Outreach	CARLA simulator integration; proposal-only reference/carla-runtime/ and conformance lane; AV triangle with RFC-0020 (Autoware) and RFC-0042 (Waymo); request for comment from carla-simulator maintainers	Draft	2026-05-23
0052	Outreach	Meta FAIR V-JEPA 2 integration; Move #2 RFC; proposal-only urml-vjepa2-bridge with two vectors (URML primitives as V-JEPA 2-AC action conditioning + V-JEPA 2 predictions as URML predictive-safety lane); world-model angle is unique among Move #2 targets; request for comment from facebookresearch/vjepa2 maintainers	Draft	2026-05-23
0053	Outreach	Open-RMF multi-robot integration; proposal-only two-vector urml-rmf-bridge (task-source + fleet-adapter); closes the multi-robot coordination gap adjacent to RFC-0022 warehouse profile; request for comment from open-rmf maintainers	Draft	2026-05-23
0054	Outreach	TRI Large Behavior Models integration; Move #2 RFC; proposal-only urml-tri-lbm-bridge plugging into vla_foundry's @register_model_params and DataParams extension pattern; LBM-on-Atlas path via the TRI + Boston Dynamics partnership; request for comment from TRI-ML/vla_foundry maintainers	Draft	2026-05-23
0055	Outreach	NVIDIA Cosmos-Reason1 integration; Move #2 RFC; proposal-only urml-cosmos-bridge as a constrained-decoding wrapper over Cosmos-Reason1's reasoning VLM; reasoner emits URML primitive programs instead of free-form text; third Move #2 integration shape (reasoner, not policy or world model); request for comment from nvidia-cosmos/cosmos-reason1 maintainers	Draft	2026-05-23
0056	Outreach	Stanford ALOHA and Mobile ALOHA integration; Move #2 RFC; proposal-only urml-aloha-bridge at the data layer (record_episodes.py extension + post-hoc annotation); reinforces RFC-0046 (OXE) at the upstream recording layer; research-collaboration shape; request for comment from MarkFzp/mobile-aloha and tonyzhaozh/aloha maintainers	Draft	2026-05-23
0057	Outreach	NVIDIA Cosmos-Predict2.5 integration; Move #2 RFC; proposal-only urml-cosmos-predict-bridge wiring the world model into URML's predictive-safety lane; NVIDIA-side parallel of RFC-0052 (V-JEPA 2 Vector B); composes with RFC-0055 (Cosmos-Reason1) into a closed loop; request for comment from nvidia-cosmos/cosmos-predict2.5 maintainers	Draft	2026-05-23
0058	Outreach	OpenAI robotics integration; Move #2 RFC; deliberate cold knock (OpenAI has not published a public robotics surface as of 2026-05-23); files for symmetry across Move #2 AI-lab coverage and to put URML on OpenAI's radar when their robotics work goes public; request for comment from OpenAI	Draft	2026-05-23
0059	Outreach	Drake model-based robotics integration; Move #2 RFC; proposal-only urml-drake-bridge with two vectors (DrakeAdapter substrate + analytical safety lane backed by Drake's solvers); fills the model-based-verification niche complementary to the learned-world-model lanes in RFC-0052 / RFC-0057; request for comment from RobotLocomotion/drake maintainers	Draft	2026-05-23
0060	Outreach	MuJoCo physics-engine integration; Move #2 RFC; formalizes URML's existing reference/mujoco-runtime/ stub into a full MuJoCoAdapter plus optional urml_envelope_plugin; closes the "URML supports MuJoCo" overclaim; request for comment from google-deepmind/mujoco maintainers	Draft	2026-05-23
0061	Outreach	WLKATA integration; first Move #3 RFC; proposal-only WlkataAdapter family targeting per-product ROS 2 packages (Mirobot / MT4 / Haro380) plus wlkatapython G-code-on-serial; cross-link to BRAVE simulation suite (Gazebo, MuJoCo, Isaac Lab); request for comment from wlkata maintainers	Draft	2026-05-24
0062	Outreach	Petoi (Bittle / Nybble) integration; Move #3 RFC; proposal-only PetoiAdapter over the OpenCat serial protocol; skill-library mapping from URML primitives to OpenCat gaits; the $299 hobby-quadruped hero-demo target for Move #3; request for comment from PetoiCamp maintainers	Draft	2026-05-24
0063	Outreach	Hiwonder integration; Move #3 RFC; proposal-only HiwonderAdapter family spanning MentorPi (Mecanum/Ackermann/tank), PuppyPi (quadruped), JetRover (Jetson rover), ROSPider (hexapod), JetMax (arm); catalog-breadth substrate-fungibility story; request for comment from Hiwonder maintainers	Draft	2026-05-24
0064	Outreach	Trossen Robotics Interbotix integration; Move #3 RFC; proposal-only InterbotixAdapter over interbotix_ros_manipulators (BSD-3-Clause, ROS 2 Humble + Rolling + ROS 1 Noetic legacy); US-domiciled provenance anchor for Move #3; cross-links to RFC-0040 LeRobot and RFC-0056 Stanford ALOHA; request for comment from Interbotix maintainers	Draft	2026-05-24
0065	Outreach	ROBOTIS integration; first Move #4 RFC; proposal-only RobotisAdapter family across TurtleBot 3 + OP3 humanoid + OpenManipulator + dynamixel_sdk; closes the institutional loop with three existing URML outreach RFCs (RFC-0040 LeRobot, RFC-0056 Stanford ALOHA, RFC-0064 Trossen Interbotix) that transitively depend on Dynamixel; request for comment from ROBOTIS-GIT maintainers	Draft	2026-05-24
0066	Outreach	AgileX Robotics integration; Move #4 RFC; proposal-only AgileXAdapter family across Tracer / Limo / Scout / Hunter / Bunker / Ranger mobile bases; closes the Mobile-ALOHA chassis loop (cross-link to RFC-0056) and the AgileX-LeRobot ecosystem alignment (cross-link to RFC-0040); request for comment from agilexrobotics maintainers	Draft	2026-05-24
0067	Outreach	FarmBot integration; Move #4 RFC; proposal-only FarmBotAdapter over the public REST + MQTT API; URML's first outreach into the agricultural vertical; raises a future spec/profiles/agriculture/ profile as an open question (not proposed in this RFC); request for comment from FarmBot maintainers	Draft	2026-05-24
0068	Outreach	PAL Robotics integration; Move #4 RFC; proposal-only PalAdapter family across PMB2 / TIAGo / TIAGo Pro; the commercial mobile-manipulator niche between Move #1 stationary OEMs and Move #2's research humanoids; raises bimanual-coordination primitive question alongside RFC-0010 Draft, RFC-0047, RFC-0056; request for comment from pal-robotics maintainers	Draft	2026-05-24
0069	Outreach	Berkeley Humanoid Lite integration; Move #4 RFC; proposal-only BerkeleyHumanoidLiteAdapter covering sim (Isaac Lab) and real-hardware paths for the sub-$5k open-hardware humanoid from UC Berkeley Hybrid Robotics Lab; cross-link to RFC-0050 NVIDIA Isaac Lab; request for comment from HybridRobotics maintainers	Draft	2026-05-24
0070	Outreach	HEBI Robotics integration; Move #4 RFC; proposal-only HebiAdapter for modular Series Elastic Actuator configurations; first URML deployment to fully populate the manifest's kinematic_chain field; CMU-rooted, US-domiciled, Apache-2.0 predominant; closes the Move #4 pilot batch; request for comment from HebiRobotics maintainers	Draft	2026-05-24
0071	Outreach	Robotnik Automation integration; first Move #5 RFC, Tier A vendor-style; proposal-only RobotnikAdapter family across Summit XL + RB-1 + RB-VOGUI + AGVS + rbcar; Spanish commercial industrial mobile-robotics; BSD-3-Clause predominant; cross-link to RFC-0022 warehouse profile (AGVS) and RFC-0068 PAL (Spanish); request for comment from RobotnikAutomation maintainers	Draft	2026-05-24
0072	Outreach	Clearpath Robotics integration; Move #5 RFC, Tier A vendor-style; proposal-only ClearpathAdapter family across TurtleBot 4 + Husky + Jackal + Dingo + Warthog; Canadian; explicit TurtleBot-4-vs-TurtleBot-3 disambiguation with RFC-0065 ROBOTIS; post-Rockwell-acquisition context noted; request for comment from clearpathrobotics maintainers	Draft	2026-05-24
0073	Outreach	Robotical (Marty) integration; Move #5 RFC, Tier A vendor-style; proposal-only RoboticalMartyAdapter over martypy for Marty v1 / v2 bipedal educational walking robot; UK; the bipedal counterpart to RFC-0062 Petoi Bittle quadruped; request for comment from robotical maintainers	Draft	2026-05-24
0074	Outreach	DEEP Robotics integration; Move #5 RFC, Tier A vendor-style; proposal-only DeepRoboticsAdapter family across Lite3 + M20 today and Lynx S10 (wheeled-legged hybrid, launched 2026-05-22, SDK pending) forward-declared; introduces wheeled-legged mobility class flagged for future Spec RFC; Chinese; request for comment from DeepRoboticsLab maintainers	Draft	2026-05-24
0075	Outreach	Stanford Pupper integration; Move #5 RFC, first Tier B research-collab; proposal-only StanfordPupperAdapter for v1 / v2 (StanfordQuadruped, 1.7k stars MIT) plus Pupper v3 (Raspberry Pi 5 + 400W brushless + Luxonis SR); Stanford Robotics Club student-led; research-collab framing; request for comment from stanfordroboticsclub maintainers	Draft	2026-05-24
0076	Outreach	Open Dynamic Robot Initiative (Solo 8 / Solo 12) integration; Move #5 RFC, Tier B research-collab; proposal-only SoloAdapter for torque-controlled open quadruped; first URML deployment to explicitly target control_mode: torque; multi-institution academic consortium (MPI Tübingen + NYU + ETH); research-collab framing; request for comment from open-dynamic-robot-initiative maintainers	Draft	2026-05-24
0077	Outreach	MIT CHAMP integration; Move #5 RFC, Tier B research-collab; proposal-only ChampAdapter as control-framework target (not hardware); consumes CHAMP's URDF-parameterised whole-body controller for MIT Mini Cheetah / ANYmal / Spot / LittleDog / SpotMicroAI / OpenQuadruped; mirrors RFC-0070 HEBI per-customer-geometry pattern; ROS 1 only; cross-link to RFC-0043 Spot and RFC-0049 ANYmal; request for comment from chvmp maintainers	Draft	2026-05-24
0078	Outreach	Orca4 / ros-maritime integration; Move #5 RFC, Tier B research-collab; alignment + documentation (not new adapter) layering URML's existing marine-runtime BlueRovAdapter with the community Orca4 ROS 2 stack on top of BlueROV2; cross-link to RFC-0041 ArduPilot; request for comment from clydemcqueen and ros-maritime working group	Draft	2026-05-24
0079	Outreach	Open Bionics integration; Move #5 RFC, Tier B research-collab + commercial courtesy; URML's first accessibility-identity outreach; two-surface engagement (academic OpenBionics GitHub org, dormant, last commits 2018–2020 / commercial Open Bionics Ltd, no GitHub Issue surface); no spec or profile commitment; lightest engagement payload in Move #5; request for comment from OpenBionics maintainers (if reachable) + courtesy outreach to Open Bionics Ltd	Draft	2026-05-24
0080	Outreach	UC Berkeley AUTOLAB integration; first Move #6 RFC, Tier B research-collab; PI Ken Goldberg (distinct from RAIL/Abbeel and Hybrid Robotics Lab/RFC-0069); dex-net + gqcnn + autolab_core engagement; EECS 206A/B coursework integration; request for comment from BerkeleyAutomation maintainers	Draft	2026-05-25
0081	Outreach	Caltech AMBER Lab integration; Move #6 RFC, Tier B research-collab; PI Aaron Ames; strongest formal-methods alignment with URML's static-verification story in any outreach wave; obelisk composition + prosthetics complement to RFC-0079; request for comment from Caltech-AMBER maintainers	Draft	2026-05-25
0082	Outreach	UPenn GRASP Lab integration; Move #6 RFC, Tier B research-collab; PI Vijay Kumar; KumarRobotics 93 repos with msckf_vio 1.9k + kr_autonomous_flight 771; multi-agent + aerial + ground-aerial heterogeneous fleet research; surfaces multi-agent coordination primitive question for future Spec RFC; request for comment from KumarRobotics maintainers	Draft	2026-05-25
0083	Outreach	UW Personal Robotics Lab integration; Move #6 RFC, Tier B research-collab; PI Siddhartha Srinivasa (distinct from Imperial PRL/Demiris per RFC-0088); ADA + HERB + aikido composition; CSE 490R coursework; request for comment from personalrobotics maintainers	Draft	2026-05-25
0084	Outreach	UMich Robotics Department + CURLY lab integration; Move #6 RFC, Tier B research-collab; PIs Maani Ghaffari + Jessy Grizzle; ROB 101 / ROB 102 / ROB 401 robot-agnostic undergraduate curriculum (most teaching-pipeline-ready URML target in Move #6); request for comment from UMich-CURLY + department leadership	Draft	2026-05-25
0085	Outreach	Northwestern Center for Robotics and Biosystems (CRB) integration; Move #6 RFC, Tier B research-collab; PIs Todd Murphey + Ed Colgate + Kevin Lynch; ergodic-control + HAND ERC ($52M/10y) + speculative Lynch textbook ask; GPL-3.0 license-fit note for URML Apache-2.0 reference/; request for comment from MurpheyLab + CRB faculty	Draft	2026-05-25
0086	Outreach	ETH Zurich Autonomous Systems Lab (ASL) integration; Move #6 RFC, Tier B research-collab; PI Roland Siegwart; largest GitHub footprint in Move #6 (458 repos, 2.3k followers, maplab 2.8k stars); distinct from ETH RSL (Hutter, covered indirectly via RFC-0049 ANYmal); request for comment from ethz-asl maintainers	Draft	2026-05-25
0087	Outreach	TU Delft Cognitive Robotics integration; Move #6 RFC, Tier B research-collab; PI Martijn Wisse; bio-inspired locomotion + Mobile Robotics course + CoppeliaSim Spec RFC question; request for comment from tud-cor maintainers	Draft	2026-05-25
0088	Outreach	Imperial College London Personal Robotics Lab integration; Move #6 RFC, Tier B research-collab + off-GitHub courtesy; PI Yiannis Demiris (distinct from UW PRL/Srinivasa per RFC-0083); no verified standalone GitHub Issue surface — engagement via courtesy email to y.demiris@imperial.ac.uk; request for comment from Imperial PRL	Draft	2026-05-25
0089	Outreach	Oxford Robotics Institute (ORI) integration; Move #6 RFC, Tier B research-collab; PI Paul Newman; thin GitHub presence (only 2 public repos in oxford-robotics-institute); cross-link to RFC-0042 (Waymo) for Radar RobotCar Dataset annotation + RFC-0020 (Autoware) for AV research; request for comment from ORI maintainers	Draft	2026-05-25
0090	Outreach	University of Tokyo JSK Robotics Lab integration; Move #6 RFC, Tier B research-collab; PIs Masayuki Inaba + Kei Okada; most mature Asian academic ROS surface (20+ years); jsk_recognition + jsk_visualization composition + EusLisp / roseus + jsk_aerial_robot; request for comment from jsk-ros-pkg maintainers	Draft	2026-05-25
0091	Outreach	QUT Centre for Robotics (Peter Corke) integration; Move #6 RFC, Tier B research-collab; twelfth and final Move #6 RFC; PI Peter Corke; personal handle (petercorke) plus institutional QUT Centre; robotics-toolbox-python global teaching standard + RVC3 textbook (speculative URML-appendix ask) + AuSRoS 2025+ ROS 2 labs + ARC Centre of Excellence; request for comment from Peter Corke	Draft	2026-05-25
0092	Outreach	Twisted Fields / Acorn integration; first Move #7 RFC, Tier A vendor-style; agriculture-vertical second wave (after RFC-0067 FarmBot); Apache-2.0 upstream (clean license fit); solar-powered modular precision-farming rover; acorn-precision-farming-rover 275 stars + KiCAD electronics + mechanical CAD; AcornAdapter proposed in reference/agriculture-runtime/; request for comment from Twisted-Fields maintainers	Draft	2026-05-26
0093	Outreach	Sentera integration; Move #7 RFC, Tier A vendor-style; first URML ag-drone RFC; SenteraLLC org 63 public repos with py-radiometric-corrections Apache-2.0 + MAVSDK forks; documented MAVLink integration for Double 4K / 6X multispectral payloads; SenteraAdapter proposed in reference/px4-runtime/sentera/; request for comment from SenteraLLC maintainers	Draft	2026-05-26
0094	Outreach	Burro Robotics integration; Move #7 RFC, Tier A vendor-style; first commercial ag-cobot RFC; 300+ units deployed across 40+ customers in 6 countries with $24M Series B 2024; burro-robotics org 34 public repos + documented BOSS Cloud API for fleet telemetry + WMS; BurroAdapter proposed in reference/agriculture-runtime/; cross-link to RFC-0053 Open-RMF; request for comment from burro-robotics maintainers	Draft	2026-05-26
0095	Outreach	UCLA AgriCruiser integration; Move #7 RFC, Tier B research-collab; USDA NIFA-funded (grants 2024-67021-42528, 2022-67022-37021, 2021-67022-34200) over-the-row platform; agri-cruiser/agri-cruiser 15 stars C++ GPL-3.0; license-fit note for URML Apache-2.0 reference/ (cross-citation only, RFC-0085 precedent); request for comment from agri-cruiser maintainers	Draft	2026-05-26
0096	Outreach	INRAE Romea integration; Move #7 RFC, Tier B research-collab; strongest EU-academic ag-robotics surface; Romea org 79 public repos ROS 2 native Apache-2.0 predominant; cropcraft 105 stars procedural ag-sim world generator + romea-ros2-mobile-base four-wheel-steering platforms; cross-link to RFC-0086 ETH ASL large-ROS-2-org template + RFC-0095 US counterpart; request for comment from Romea maintainers	Draft	2026-05-26
0097	Outreach	EarthSense / TerraSentia integration; Move #7 RFC, Tier B research-collab; hybrid academic UIUC + commercial spin-out structure; TerraSentia org 7 public repos including livox_ros_driver2 + FAST-LIO-SAM + terra-lidar-imu-init GPL-2.0; under-canopy crop phenotyping (<15 lbs, 11" width); Nature Communications 2025 142-field validation; license-clarity gate before adapter; cross-link to RFC-0088 hybrid + RFC-0089 thin-GitHub precedents; request for comment from TerraSentia + EarthSense	Draft	2026-05-26
0098	Outreach	Cornell AgXRP integration; Move #7 RFC, Tier B research-collab + off-GitHub courtesy; PI Jonathan Jaramillo; partnerships Cornell + University of Idaho + 4-H + Agriculture in the Classroom + community colleges; affordable open-source ag-robotics for K-12 STEM; NO verified GitHub repo or org (off-GitHub courtesy email to experiential.bot/agxrp Contact form); precedent RFC-0088 Imperial PRL off-GitHub framing; request for comment from AgXRP team	Draft	2026-05-26
0099	Outreach	Wageningen Field Robot Event 2026 integration; eighth and final Move #7 RFC, Tier B research-collab + community-channel framing (closes the agriculture wave); FRE 2026 June 16-18 2026 at International DLG Crop Production Centre Bernburg Germany; annual European ag-robotics competition; community engagement via FRE Discord (linked from fieldrobotevent.eu); URML primitive vocabulary as candidate teaching artifact for entrants; request for comment from FRE 2026 organising committee; surface recovered 2026-05-30 (github.com/FieldRobotEvent found, posted there, not Discord)	Open	2026-05-30
0100	Outreach	iRobot Roomba integration; first Move #8 RFC, Tier A vendor-style; opens the home-assistance wave; community LAN-control SDK (koalazak/dorita980 MIT 1.1k stars + jeremywillans/ha-rest980-roomba + Home Assistant roomba) — iRobot itself has no public developer SDK; proposes new reference/home-runtime/ package with RoombaAdapter as first adapter; region-based mobility (mapped rooms / Spaces, not free coordinates); request for comment from dorita980 + ha-rest980-roomba maintainers	Draft	2026-05-26
0101	Outreach	Husqvarna Automower integration; Move #8 RFC, Tier A vendor-style; cleanest first-class-vendor-API surface in Move #8; official Automower Connect API (OpenAPI 3.0 + OAuth 2.0) at developer.husqvarnagroup.cloud + Thomas55555/aioautomower MIT Python wrapper; HusqvarnaAutomowerAdapter proposed in reference/home-runtime/; zone-based mobility (geofence zones); cloud-only API; request for comment from aioautomower maintainer	Draft	2026-05-26
0102	Outreach	Bear Robotics / Servi integration; Move #8 RFC, Tier A vendor-style but off-GitHub courtesy (no customer-facing GitHub Issue surface on bearrobotics org — 25 repos, all infrastructure forks); documented Bear Cloud API (gRPC + REST) at cloud.api.bearrobotics.ai; senior-living + care-home adjacency framing for home-assistance continuum; cross-link to RFC-0094 (Burro Robotics commercial-cobot-fleet precedent); engagement via Bear Cloud developer portal Contact form; RFC-0088 / RFC-0098 off-GitHub precedents	Draft	2026-05-26
0103	Outreach	Maytronics Dolphin integration; Move #8 RFC, Tier A vendor-style; aquatic-subsystem niche broadens URML's substrate-neutral claim across indoor floor + outdoor lawn + pool home-assistance continuum; community surface sh00t2kill/dolphin-robot (Python, 75 stars, license-unset — clarification gate before adapter code); reverse-engineered Maytronics WiFi API; MaytronicsDolphinAdapter proposed in reference/home-runtime/; region-based mobility (floor / walls / waterline / steps); request for comment from dolphin-robot maintainer	Draft	2026-05-26
0104	Outreach	ROBOTIS Dynamixel integration; Move #8 RFC, Tier A vendor-style; first servo-vendor RFC in URML's outreach landscape; ROBOTIS-GIT org (80+ repos, Apache-2.0 predominant, ROS 2 native); DynamixelSDK 587 stars + dynamixel_hardware_interface 34 stars; documented cross-citation (NOT stand-alone adapter — Dynamixel is actuator-substrate, not platform-substrate); home-scale / educational / research counterpart to Move #1 industrial-component-vendor RFCs (RFC-0031-0034); request for comment from ROBOTIS-GIT maintainers	Draft	2026-05-26
0105	Outreach	Luxonis OAK-D / DepthAI integration; Move #8 RFC, Tier B research-collab; de facto affordable 3D-perception module for home / educational / research robotics; luxonis/depthai-python (MIT, 429 stars, Discussions enabled — preferred surface) + luxonis/depthai-ros (MIT, 346 stars); documented cross-citation (perception substrate, like Dynamixel for actuators); home-scale counterpart to Move #1 industrial-perception-vendor RFCs (RFC-0032 Ouster, RFC-0033 SICK); request for comment from luxonis maintainers	Draft	2026-05-26
0106	Outreach	Home Assistant integration; Move #8 RFC, Tier B research-collab + community; strategic anchor for the home-assistance wave (every Move #8 vendor target already lives as an HA integration); home-assistant/core Apache-2.0 87.3k stars under Open Home Foundation (2024+); URML primitives compile into HA automation YAML; candidate urml HACS integration prototype; cross-link to RFC-0100 / 0101 / 0103 (Move #8 vendor dependents), RFC-0021 (NL layer), RFC-0014 (conformance); request for comment from home-assistant/core maintainers	Draft	2026-05-26
0107	Outreach	OpenVoiceOS integration; eighth and final Move #8 RFC, Tier B research-collab + community (closes the home-assistance wave); pivoted from rhasspy/rhasspy3 (archived shortly before this RFC drafted) to OpenVoiceOS/ovos-core (Apache-2.0, 275 stars, NGI Zero Commons Fund grant Oct 2025); post-Mycroft independent voice-stack trajectory (distinct from HA / Open Home Foundation umbrella covered indirectly via RFC-0106); composition direction voice -> OVOS intent -> URML primitive -> substrate; request for comment from OpenVoiceOS maintainers	Draft	2026-05-26
0108	Outreach	NASA-JPL ROSA integration; first Move #9 RFC, Tier A vendor-style; proposal-only URML Langchain tool that ROSA's agent registers, emitting validated URML programs in place of raw rospy / rclpy calls with URML's manifest-gated validator as a static safety check before any topic publishes; nasa-jpl/rosa Apache-2.0 1.5k stars Langchain-based ROS 1/2 agent (jpl-rosa on PyPI); closest single-repo semantic overlap with URML's reason for existing across nine outreach waves; cross-link to RFC-0040 (LeRobot bridge precedent), RFC-0073 (Robotical Marty engagement-driven adapter pattern), reference/llm-bridge/ + reference/ros2-runtime/ + reference/isaac-runtime/; request for comment from nasa-jpl/rosa maintainers (@RobRoyce, JPL AI Group)	Draft	2026-05-27
0109	Outreach	Intel RealSense / RealSenseAI integration; first Move #10 RFC, Tier A vendor-style; proposal-only manifest mapping for D400 / L515 / T265 / D435i RGB-D + IMU depth-camera line over realsenseai/librealsense (Apache-2.0, 8.8k stars, daily commits, Issues + Discussions enabled); reinforces RFC-0035 (Zivid) color-on-point-cloud schema-extension question; surfaces object-detection capability-declaration question (URML has query_detection primitive; manifest needs richer class declaration); request for comment from realsenseai/librealsense maintainers	Draft	2026-05-27
0110	Outreach	StereoLabs ZED integration; Move #10 RFC, Tier A vendor-style; proposal-only manifest mapping for ZED 2i / X / Mini / One stereo + RGB-D + IMU line over stereolabs/zed-ros2-wrapper (Apache-2.0 wrapper over closed ZED SDK); closed-core / open-wrapper pattern parallel to RFC-0073 Marty; surfaces native vision-AI declaration (bundled object detection / body tracking / spatial mapping) for URML's query_detection; request for comment from stereolabs/zed-ros2-wrapper maintainers	Draft	2026-05-27
0111	Outreach	Carnegie Robotics MultiSense integration; Move #10 RFC, Tier A vendor-style; proposal-only manifest mapping for the MultiSense stereo-sensor family over carnegierobotics/multisense_ros2 (MIT, US Pittsburgh); defense / space-grade environmental-rating declaration gap surfaced; shares maintainer pedigree (Hirschmueller / Scharstein stereo-vision lineage) with RFC-0112 Roboception; request for comment from carnegierobotics maintainers	Draft	2026-05-27
0112	Outreach	Roboception (rc_visard / rc_cube) integration; Move #10 RFC, Tier A vendor-style; proposal-only manifest mapping for the rc_visard 3D-stereo + rc_cube compute family over roboception/cvkit (BSD-3-Clause, DE Munich, ex-DLR spin-off); surfaces GenICam-protocol capability declaration + licensed grasp-detection module declaration + ROS-driver-maintenance-status question (rc_visard_ros stale 2022); request for comment from roboception maintainers	Draft	2026-05-27
0113	Outreach	Basler (pylon) integration; Move #10 RFC, Tier A vendor-style; first machine-vision-camera RFC in URML's outreach (USB3 Vision + GigE Vision industrial inspection grade); proposal-only manifest mapping over basler/pypylon (BSD-3-Clause Python bindings, DE Ahrensburg, 696 stars); GenICam-protocol declaration shared with RFC-0112; license-classifier NOASSERTION clarification gate on sibling pylon-ros-camera; request for comment from basler/pypylon maintainers	Draft	2026-05-27
0114	Outreach	Prophesee (Metavision event cameras) integration; Move #10 RFC, Tier A vendor-style; first event-camera RFC in URML's outreach; proposal-only manifest mapping over prophesee-ai/openeb (Apache-2.0 per docs — SPDX classifier ambiguity is clarification gate; FR Paris); event-stream measurement_type Spec RFC is hard prerequisite for adapter-grade declaration; request for comment from prophesee-ai maintainers	Draft	2026-05-27
0115	Outreach	ifm Effector (O3X / O3R / O3D) integration; Move #10 RFC, Tier A vendor-style; proposal-only manifest mapping for ifm's 3D-ToF perception line over ifm/ifm3d (Apache-2.0 SDK + ifm/ifm3d-ros2, Issues + Discussions both enabled — best Apache-2.0-top-to-bottom posture in optical-perception slice); surfaces O3R on-camera native detection / segmentation declaration question + multi-port VPU topology + per-point attributes on point clouds; request for comment from ifm/ifm3d maintainers	Draft	2026-05-27
0116	Outreach	Teledyne FLIR (Boson thermal cameras) integration; Move #10 RFC, Tier A vendor-style; first thermal / IR-camera RFC in URML's outreach; proposal-only manifest mapping for Boson 320 / 640 over FLIR/BosonUSB (MIT, US Wilsonville OR); thermal-array measurement_type Spec RFC queued as parallel prerequisite; scope limited to open Boson UVC surface (broader FLIR Spinnaker SDK closed binary off-GitHub); request for comment from FLIR maintainers	Draft	2026-05-27
0117	Outreach	MicroStrain by HBK (3DM-CV7 / GX5 / GQ7 IMU / AHRS / INS) integration; Move #10 RFC, Tier A vendor-style; proposal-only manifest mapping over LORD-MicroStrain/microstrain_inertial (28-repo vendor org, days-ago commits); surfaces IMU measurement_type Spec RFC (acceleration/angular_velocity/orientation currently custom) + INS fusion declaration + NTRIP-correction declaration; license-classifier NOASSERTION clarification gate; request for comment from MicroStrain maintainers	Draft	2026-05-27
0118	Outreach	SBG Systems (Ellipse / Quanta / Apogee IMU / INS) integration; Move #10 RFC, Tier A vendor-style; proposal-only manifest mapping over SBG-Systems/sbg_ros2_driver (MIT, dual ROS 1 + ROS 2 coverage, FR origin); shares three Spec-RFC gaps with RFC-0117 (IMU measurement_types, INS fusion, NTRIP corrections); cleanest license posture in the Move #10 IMU/GNSS Tier-A four; request for comment from SBG-Systems maintainers	Draft	2026-05-27
0119	Outreach	Septentrio (Mosaic / AsteRx GNSS) integration; Move #10 RFC, Tier A vendor-style; proposal-only manifest mapping over septentrio-gnss/septentrio_gnss_driver (BSD-3-Clause, BE origin); surfaces five GNSS-class schema gaps (constellation, frequency-band, RTK / NTRIP, dual-antenna heading, multi-dimensional accuracy) queued as a parallel Spec RFC; multi-dimensional accuracy framing inherited from RFC-0035 (Zivid) precedent; request for comment from septentrio-gnss maintainers	Draft	2026-05-27
0120	Outreach	NovAtel / Hexagon (OEM7 GNSS / SPAN GNSS+INS) integration; Move #10 RFC, Tier A vendor-style; proposal-only manifest mapping over novatel/novatel_oem7_driver (MIT, Issues + Discussions both enabled — explicit dialogue invitation, CA + SE origin); shares GNSS-class gaps with RFC-0119 + INS-fusion gaps with RFC-0117 / RFC-0118 + SPAN tight-coupling declaration; request for comment from novatel maintainers	Draft	2026-05-27
0121	Outreach	Robotous (RFT-series 6-axis F/T sensors) integration; Move #10 RFC, Tier A vendor-style; first force/torque vendor RFC (ATI / Bota are URML fixtures but never engaged); proposal-only manifest mapping over ROBOTOUS/ROS-2-Interface-for-RFT-Series-EtherCAT-Model (MIT, fresh vendor org Feb 2026, KR origin); F/T measurement_type Spec RFC queued; UART + EtherCAT transport-protocol declaration question; request for comment from ROBOTOUS maintainers	Draft	2026-05-27
0122	Outreach	GelSight (vision-based tactile sensors) integration; Move #10 RFC, Tier A vendor-style; first tactile-sensing RFC in URML; proposal-only manifest mapping over gelsightinc/gsrobotics (GPL-3.0, US Waltham MA, MIT spin-off, DIGIT-successor after Meta archived facebookresearch/digit-*); cross-citation framing (GPL-3.0 limits Apache-2.0 bundling); tactile/pressure-array measurement_type Spec RFC queued; request for comment from gelsightinc maintainers	Draft	2026-05-27
0123	Outreach	Cubert (snapshot hyperspectral imaging) integration; Move #10 RFC, Tier A vendor-style; first hyperspectral-imaging RFC in URML; best vendor surface in Move-10 (35 public repos uniformly Apache-2.0, daily commits, DE Ulm); only Move-10 vendor with public LLM-tool agentic-skills surface (cuvis-ai-agentic-skills) — highest semantic overlap with URML's NL-bridge layer; spectral-cube measurement_type Spec RFC queued; request for comment from cubert-hyperspectral maintainers	Draft	2026-05-27
0124	Outreach	Sensirion (environmental sensors — humidity / CO2 / particulate / VOC) integration; Move #10 RFC, Tier A vendor-style; first environmental-sensor RFC in URML; proposal-only manifest mapping over the 252-repo Sensirion org (BSD-3-Clause uniformly, CH origin); env-scalar-array measurement_type Spec RFC queued; safety-envelope (RFC-0012) cross-link as environmental thresholds gate primitive execution; request for comment from Sensirion maintainers	Draft	2026-05-27
0125	Outreach	Bosch Sensortec (MEMS IMU / pressure / environment) integration; Move #10 RFC, Tier A vendor-style; completes the 17 Tier A for Move #10; proposal-only manifest mapping over the 33-repo boschsensortec org (BSD-3-Clause on per-sensor APIs, NOASSERTION on fusion-firmware closed binaries, DE origin); shares IMU-type Spec RFC with RFC-0117 / RFC-0118 + env-scalar-array Spec RFC with RFC-0124; on-chip fusion-firmware (BSEC / BHy2 / BSX) declaration question; request for comment from boschsensortec maintainers	Draft	2026-05-27
0126	Outreach	iniVation (DAVIS event-camera) integration; Move #10 RFC, Tier B vendor-style (first Tier B of Move-10); proposal-only manifest mapping over GitLab-primary gitlab.com/inivation/dv/dv-processing (Apache-2.0, CH Zürich); engagement-surface question (GitLab vendor-native vs GitHub utility-fork routing); pairs with RFC-0114 (Prophesee) on event-stream Spec-RFC gap; request for comment from iniVation maintainers	Draft	2026-05-27
0127	Outreach	pmdtechnologies (Royale ToF) integration; Move #10 RFC, Tier B vendor-style; proposal-only manifest mapping over pmdtechnologies/pmd-royale-ros (BSD-3-Clause wrapper over closed Royale SDK, DE Siegen, ROS 1 only, last commit 2023-12-13 stale >2 years); complements RFC-0115 (ifm Effector) at ToF-pixel-upstream layer; request for comment from pmdtechnologies maintainers	Draft	2026-05-27
0128	Outreach	Optris (industrial thermal imagers) integration; Move #10 RFC, Tier B vendor-style; proposal-only manifest mapping over Optris/otcsdk_downloads (license-undeclared, active 2026-05-06) + Optris/optris_drivers2 (NOASSERTION, stale); license-clarification ask is front-and-centre; DE Berlin origin; shares thermal-array Spec-RFC gap with RFC-0116; request for comment from Optris maintainers	Draft	2026-05-27
0129	Outreach	Seek Thermal (compact USB thermal imagers) integration; Move #10 RFC, Tier B vendor-style; proposal-only manifest mapping over seekthermal/seekcamera-python (Apache-2.0, US Santa Barbara CA, single-repo vendor presence, last commit 2024-03-08 stale >14 months); compact-class complement to industrial-class FLIR (RFC-0116) / Optris (RFC-0128); request for comment from Seek Thermal maintainers	Draft	2026-05-27
0130	Outreach	Velodyne (legacy VLP/HDL via ros-drivers) integration; Move #10 RFC, Tier B community-maintained-driver; proposal-only manifest mapping over ros-drivers/velodyne (BSD-3-Clause, 715 stars, last commit 2025-08-28); brand-consolidation routing question (Velodyne brand = Ouster-owned post-2023; RFC-0032 already engaged Ouster) is the primary design point; community-org engagement not vendor; request for comment from ros-drivers maintainers	Draft	2026-05-27
0131	Outreach	Xsens / Movella (MTi IMU/AHRS/INS) integration; Move #10 RFC, Tier B vendor-style; proposal-only manifest mapping over xsens/xsens_mti_ros_node (legacy ROS 1, NOASSERTION, stale >7 years on GitHub) + off-GitHub active ROS 2 driver via tarball on movella.com; off-GitHub migration creates engagement-channel question; NL Enschede origin; shares IMU-type Spec RFC with RFC-0117 / RFC-0118 + GNSS-class Spec RFC with RFC-0119 / RFC-0120; request for comment from Movella maintainers	Draft	2026-05-27
0132	Outreach	TDK / InvenSense (ICM/IIM MEMS IMU) integration; Move #10 RFC, Tier B vendor-style; proposal-only manifest mapping over the 15-repo InvenSenseInc org (Apache-2.0 on rbx_apps / NOASSERTION on drivers, JP TDK + US InvenSense post-2017); MCU-firmware-level vs robotics-stack content-level mismatch drives cross-citation framing; shares IMU-type Spec RFC with RFC-0117 / RFC-0118 / RFC-0125 / RFC-0131; request for comment from InvenSenseInc maintainers	Draft	2026-05-27
0133	Outreach	u-blox (GNSS / RTK) integration; Move #10 RFC, Tier B dual-surface vendor-style + community-maintained ROS driver; proposal-only manifest mapping over u-blox/ubxlib (Apache-2.0, CH Thalwil) AND KumarRobotics/ublox (BSD-3-Clause, UPenn GRASP community fork) ; high-volume mass-market RTK lineage; shares GNSS-class Spec RFC with RFC-0119 / RFC-0120 / RFC-0134; request for comment from u-blox + KumarRobotics maintainers	Draft	2026-05-27
0134	Outreach	Emlid (Reach RTK GNSS) integration; Move #10 RFC, Tier B vendor-style; proposal-only manifest mapping over the 43-repo emlid org (BSD-3-Clause on open surface, closed ReachView3 firmware); HK-registration history flagged honestly (current HU-domiciled Emlid Tech Kft. passes default policy; HK history for US-federal-procurement operator decision); shares GNSS-class Spec RFC with RFC-0119 / RFC-0120 / RFC-0133; request for comment from Emlid maintainers	Draft	2026-05-27
0135	Outreach	Cerulean Sonar (underwater sonar / echo sounders) integration; Move #10 RFC, Tier B vendor-style; first sonar / underwater-perception RFC in URML; proposal-only manifest mapping over the 12-repo CeruleanSonar org (SonarView flagship license-undeclared — license clarification ask; ping-python + s500_ros2 MIT, US origin); complements URML's existing marine-runtime (BlueROV ArduSub); sonar-return-array Spec RFC queued; request for comment from CeruleanSonar maintainers	Draft	2026-05-27
0136	Outreach	Contactile (PapillArray tactile sensor) integration; Move #10 RFC, Tier B vendor-style; proposal-only manifest mapping over contactile/c3dfbs (GPL-3.0, user-account-type single-maintainer, UNSW spin-off AU, stale >15 mo) + community ROS 2 wrapper mgonzs13/contactile_ros; cross-citation framing recommended (GPL-3.0 copyleft + single-maintainer pattern); second tactile RFC after RFC-0122 GelSight; shares tactile-array Spec RFC with RFC-0122; request for comment from contactile maintainers	Draft	2026-05-27
0137	Outreach	AMS-OSRAM (TMF ToF + Mira image-sensor) integration; Move #10 RFC, Tier B vendor-style; completes the 12 Tier B and the full 29 engageable Move-10 RFCs; proposal-only manifest mapping over the 49-repo ams-OSRAM org (GPL-3.0 tmf8829_driver_linux active 2026-05-19 + GPL-2.0 mira220_v4l2_driver, AT Premstätten); cross-citation / manifest-component framing (copyleft posture + chip-vs-camera engagement-level mismatch); multi-zone ToF Spec RFC queued (shared with RFC-0115 / RFC-0127); request for comment from ams-OSRAM maintainers	Draft	2026-05-27

Move #11 (RFCs 0138-0152) — net-new VLA / robot foundation-model targets

Move #11 covers 15 VLA / robot-foundation-model targets that Move #2 (2026-05-23) did not touch. Move #2 posted RFCs to 21 AI/ML-layer targets with response: none across the board (one engaged via Spot/rai-opensource, one declined — ArduPilot); Move #11 is the net-new layer — VLAs / foundation models that have emerged since Move-2 or that Move-2 didn't reach. Verified 2026-05-28 via two parallel research agents covering 11 category-groups; 15 engageable rows (9 Tier A + 6 Tier B); 7 Tier C excluded with cause (PRC × 3, HK gray × 1, already-engaged-in-Move-2 × 2, superseded × 1). Full audit: examples/lighthouses/vla-net-new-research-2026-05-28.md. Ledger: examples/lighthouses/outreach-move11.yaml. Tier A targets (RFC 0138-0146): OpenVLA, Octo, Amazon Spherical-DP, Intuitive Robots MoDE-DP, Stanford Diffusion Policy, HuggingFace smolagents, DeepMind MuJoCo Playground, DeepMind Gemini Robotics SDK (highest-value Move-11 target), OpenMind OM1. Tier B targets (RFC 0147-0152): Allen AI AI2-THOR, RAI Institute Theia, RAI Institute VLFM, Microsoft PSI, Microsoft CogACT, NUS Clear Lab Octopi.

| 0138 | Outreach | OpenVLA (Stanford / TRI / Google DeepMind 7B generalist VLA) integration; Move #11 RFC, Tier A vendor-direct; first net-new VLA RFC after Move-2; proposal-only manifest mapping over openvla/openvla (MIT, 6.3k stars, US, last commit 2025-03-23 stale-but-foundational); URML-fit framing: URML's validator sits above OpenVLA action output as pre-flight check before publish; action-head class Spec RFC queued (shared with RFC-0139 / RFC-0151); request for comment from openvla maintainers | Draft | 2026-05-28 | | 0139 | Outreach | Octo (UC Berkeley generalist diffusion-transformer policy) integration; Move #11 RFC, Tier A research-lab-direct; proposal-only manifest mapping over octo-models/octo (MIT, 1.7k stars, US, last commit 2024-07-31 stale >22mo, foundational architecture); shares action-head class Spec RFC with RFC-0138 + RFC-0151; introduces action-chunk-horizon manifest gap; request for comment from octo-models maintainers | Draft | 2026-05-28 | | 0140 | Outreach | Amazon Science Spherical Diffusion Policy (SE(3)-equivariant DP, ICML 2025) integration; Move #11 RFC, Tier A vendor-direct; proposal-only manifest mapping over amazon-science/Spherical_Diffusion_Policy (MIT, 42 stars, US Santa Clara); SE(3) / group-equivariance declaration Spec RFC is the distinct schema-extension contribution; shares diffusion-policy class Spec RFC with RFC-0141 / RFC-0142; request for comment from amazon-science maintainers | Draft | 2026-05-28 | | 0141 | Outreach | Intuitive Robots MoDE Diffusion Policy (mixture-of-experts diffusion transformer, ICLR 2025) integration; Move #11 RFC, Tier A research-group-direct; proposal-only manifest mapping over intuitive-robots/MoDE_Diffusion_Policy (MIT, 122 stars, DE Karlsruhe + US MIT collaboration); MoE routing declaration Spec RFC is the distinct schema-extension contribution; shares diffusion-policy class Spec RFC with RFC-0140 / RFC-0142; request for comment from intuitive-robots maintainers | Draft | 2026-05-28 | | 0142 | Outreach | Stanford Diffusion Policy (foundational DP, Cheng Chi et al RSS 2023) integration; Move #11 RFC, Tier A research-lab-direct; proposal-only manifest mapping over real-stanford/diffusion_policy (MIT, 4.2k stars, Stanford / Columbia / TRI US, last commit 2024-12-24 stale >17mo, foundational architecture); first direct engagement (Move-2 RFC-0054 TRI-LBM only cross-cited Stanford DP as prior art); diffusion-policy class Spec RFC umbrella (shared with RFC-0140 / RFC-0141); request for comment from real-stanford maintainers | Draft | 2026-05-28 | | 0143 | Outreach | HuggingFace smolagents (Apache-2.0 code-generation agent framework) integration; Move #11 RFC, Tier A vendor-direct; proposal-only manifest mapping over huggingface/smolagents (Apache-2.0, 27.5k stars, FR/multi, daily activity); NL-layer-substrate declaration Spec RFC queued (shared with RFC-0108 ROSA + RFC-0145 Gemini); distinct from Move-2 RFC-0040 LeRobot (robotics-policy library); request for comment from huggingface smolagents maintainers | Draft | 2026-05-28 | | 0144 | Outreach | DeepMind MuJoCo Playground (GPU robot-learning env, Apache-2.0) integration; Move #11 RFC, Tier A vendor-direct; proposal-only manifest mapping over google-deepmind/mujoco_playground (Apache-2.0, 2k stars, US/UK, daily activity); sim-substrate Spec RFC queued (shared with Move-2 RFC-0050/0051/0060); explicit boundary vs Move-2 RFC-0060 mujoco-core (env layer vs simulator core); request for comment from google-deepmind maintainers | Draft | 2026-05-28 | | 0145 | Outreach | DeepMind Gemini Robotics SDK (multimodal VLA developer surface) integration; Move #11 RFC, Tier A vendor-direct; highest-value Move-11 target; proposal-only manifest mapping over google-deepmind/gemini-robotics-sdk (Apache-2.0, 582 stars, US/UK, very active); multimodal-VLA tool-call surface declaration is the URML-fit angle (structurally similar to Move-10 RFC-0123 Cubert agentic-skills pattern); NL-layer-substrate Spec RFC (shared with RFC-0108 / RFC-0143); request for comment from google-deepmind maintainers | Draft | 2026-05-28 | | 0146 | Outreach | OpenMind OM1 (mobile-humanoid AI runtime) integration; Move #11 RFC, Tier A vendor-direct; proposal-only manifest mapping over OpenMind/OM1 (MIT, 2.8k stars, US, daily activity); URML-fit framing: URML sits one layer above OM1 as substrate-neutral typed intent vocabulary; two Spec RFCs queued — OS-layer-substrate declaration + mobile-humanoid mobility class (extends RFC-0009); request for comment from OpenMind maintainers | Draft | 2026-05-28 | | 0147 | Outreach | Allen AI AI2-THOR (visual interactive simulation) integration; Move #11 RFC, Tier B research-org-direct; cross-citation framing; proposal-only manifest mapping over allenai/ai2thor (Apache-2.0, 1.7k stars, US Seattle); sim-substrate + discrete-action-mobility Spec RFCs queued; distinct from Move-2 RFC-0047 MolmoAct (VLA vs sim-env layer); request for comment from allenai maintainers | Draft | 2026-05-28 | | 0148 | Outreach | RAI Institute Theia (vision foundation model) integration; Move #11 RFC, Tier B vendor-direct; license-clarification ask; cross-citation framing; proposal-only manifest mapping over rai-opensource/Theia (license "Other", 276 stars, US); vision-foundation-model substrate Spec RFC queued; distinct from RFC-0043 Spot/rai-opensource (different repo + different maintainer); request for comment from rai-opensource maintainers | Draft | 2026-05-28 | | 0149 | Outreach | RAI Institute VLFM (Vision-Language Frontier Maps for navigation, ICRA 2024) integration; Move #11 RFC, Tier B vendor-direct; proposal-only manifest mapping over rai-opensource/vlfm (MIT, 749 stars, US); navigation-substrate + language-conditioned-navigation Spec RFCs queued; companion to RFC-0148 RAI Theia; request for comment from rai-opensource maintainers | Draft | 2026-05-28 | | 0150 | Outreach | Microsoft PSI (Platform for Situated Intelligence — temporal-streams + offline replay) integration; Move #11 RFC, Tier B vendor-direct; license-clarification ask; cross-citation framing; proposal-only manifest mapping over microsoft/psi (license "Other", 570 stars, US Redmond, active); temporal-streams substrate Spec RFC queued; request for comment from microsoft psi maintainers | Draft | 2026-05-28 | | 0151 | Outreach | Microsoft CogACT (VLA for dexterous control, CVPR 2025) integration; Move #11 RFC, Tier B vendor-direct; proposal-only manifest mapping over microsoft/CogACT (MIT, 427 stars, US); shares action-head class Spec RFC with RFC-0138 / RFC-0139; introduces dexterous-control action-space gap; request for comment from microsoft cogact maintainers | Draft | 2026-05-28 | | 0152 | Outreach | NUS Clear Lab Octopi (octopus-inspired soft-robotics) integration; Move #11 RFC, Tier B research-lab-direct; completes the 15 Move-11 engageable RFCs; first soft-robotics RFC in URML; license-clarification ask; cross-citation framing; proposal-only manifest mapping over clear-nus/octopi (license TBD, 76 stars, SG, very active); soft-body mobility + pneumatic-network actuator + continuum-manipulator kinematics Spec RFCs queued; request for comment from clear-nus maintainers | Draft | 2026-05-28 |

Move #12 (RFCs 0153-0168) — speech / translation / robot-command-library targets

Move #12 covers 16 targets across the projects that produce the inputs and substrates for URML's Layer-4 NL grammar (STT, TTS, translation) and the libraries URML's Layer-3 behavior composition would compile down to (behavior-tree / skill-catalog DSLs). Distinct from Move #11 (VLAs / robot foundation-models): Move #11 is upstream of language infrastructure, Move #12 is the language-infrastructure layer. URML's Layer-4 reserves multilingual structural slots (English content, Hebrew / Spanish / Japanese / Mandarin reserved) and Layer-2 declares listen and speak primitives with input: speech | text; none of the prior eleven outreach waves engaged the other side of those interfaces. Verified 2026-05-28 via two parallel research agents covering 4 buckets (STT/wake-word, TTS, translation/multilingual NL, robot-command-libraries/BT-DSLs); 16 engageable rows (12 Tier A + 4 Tier B with explicit friction notes — archived repo, AGPL copyleft, GPL copyleft, commercial-SDK posture); 6 Tier C excluded with cause (PRC × 2 — k2-fsa/sherpa-onnx Xiaomi-tied, SWivid/F5-TTS SJTU; Russia × 1 — alphacep/vosk-api under URML's parallel-exclude default; dead-upstream × 3 — coqui-ai/STT, coqui-ai/TTS, festvox/festival). Full audit: examples/lighthouses/move12-research-2026-05-28.md. Ledger: examples/lighthouses/outreach-move12.yaml. Tier A targets (RFC 0153-0164): OpenAI Whisper, SYSTRAN faster-whisper, ggml-org whisper.cpp, MyShell OpenVoice, Helsinki-NLP OPUS-MT-train, Argos Translate, Marian-NMT, BehaviorTree.CPP, py_trees, MoveIt Task Constructor, Lund-LTH SkiROS2, LangChain LangGraph. Tier B targets (RFC 0165-0168): Picovoice Porcupine (commercial-SDK friction), OHF-Voice piper1-gpl (GPL-3.0 friction — IPC-only integration), Meta fairseq (archived; NLLB-200 weights CC-BY-NC), LibreTranslate (AGPL-3.0 friction — REST-boundary only).

| 0153 | Outreach | OpenAI Whisper (multilingual STT reference) integration; Move #12 RFC, Tier A vendor-direct; first Move-12 RFC; proposal-only manifest mapping over openai/whisper (MIT, 100.8k stars, US, last commit 2026-04-15); engagement-channel friction: Issues disabled on openai/whisper, Discussions-only; STT-engine-class declaration Spec RFC queued (shared with RFC-0154 / RFC-0155); request for comment from openai/whisper maintainers | Draft | 2026-05-28 | | 0154 | Outreach | SYSTRAN faster-whisper (CTranslate2-accelerated Whisper inference) integration; Move #12 RFC, Tier A vendor-direct; proposal-only manifest mapping over SYSTRAN/faster-whisper (MIT, 23.2k stars, FR Paris, last commit 2025-11-19); realtime-latency angle for listen on resource-constrained robots; shares STT-engine-class + STT-inference-runtime declaration Spec RFC with RFC-0153 / RFC-0155; introduces quantization-level + latency-class manifest gaps; org migration (guillaumekln/ → SYSTRAN/) noted; request for comment from faster-whisper maintainers | Draft | 2026-05-28 | | 0155 | Outreach | ggml-org whisper.cpp (embedded C++ Whisper inference) integration; Move #12 RFC, Tier A vendor-direct; proposal-only manifest mapping over ggml-org/whisper.cpp (MIT, 50.2k stars, BG/individual, daily activity); embedded / edge-substrate angle: Layer-1 robots without Python can host whisper.cpp directly; shares STT-engine-class + STT-inference-runtime declaration Spec RFC with RFC-0153 / RFC-0154; introduces novel runtime-dependency-profile manifest gap; org migration (ggerganov/ → ggml-org/) noted; request for comment from whisper.cpp maintainers | Draft | 2026-05-28 | | 0156 | Outreach | MyShell OpenVoice (zero-shot voice cloning TTS) integration; Move #12 RFC, Tier A vendor-direct; first TTS RFC in URML; proposal-only manifest mapping over myshell-ai/OpenVoice (MIT, 36.6k stars, US SF, last commit 2025-04-19); domicile audit cited explicitly (US-domiciled MyShell, Crunchbase/CB Insights/PitchBook concur — defensive against PRC-conflation with Move-12 Tier C exclusions sherpa-onnx + F5-TTS); voice-consistency angle for speak primitive on robot fleets; TTS-engine-class declaration Spec RFC queued (parallel to STT-engine-class); request for comment from OpenVoice maintainers | Draft | 2026-05-28 | | 0157 | Outreach | Helsinki-NLP OPUS-MT (300+ language-pair translation models) integration; Move #12 RFC, Tier A research-lab-direct; first translation RFC in URML; proposal-only manifest mapping over Helsinki-NLP/OPUS-MT-train (MIT, 403 stars, Finland Univ. Helsinki, last commit 2026-01-17); direct map onto Layer-4 multilingual slot reservation (Hebrew/Spanish/Japanese/Mandarin); translation-engine-class declaration Spec RFC queued (shared with RFC-0158 / RFC-0159); introduces novel HuggingFace-URI manifest scheme; request for comment from Helsinki-NLP maintainers | Draft | 2026-05-28 | | 0158 | Outreach | Argos Translate (offline on-device translation) integration; Move #12 RFC, Tier A vendor-direct; proposal-only manifest mapping over argosopentech/argos-translate (MIT, 6.1k stars, US Ithaca NY, last commit 2026-04-25); federated-fleet / offline angle aligns with CLAUDE.md no-cloud invariant; shares translation-engine-class Spec RFC with RFC-0157 / RFC-0159; introduces offline/no-cloud + pair-install-class manifest gaps; request for comment from argosopentech maintainers | Draft | 2026-05-28 | | 0159 | Outreach | Marian-NMT (research-backbone NMT toolkit) integration; Move #12 RFC, Tier A vendor-direct; license-clarification ask (Other → MIT-style); proposal-only manifest mapping over marian-nmt/marian-dev (license Other, 287 stars, UK Edinburgh + US MSR, last commit 2025-07-09); research backbone behind OPUS-MT (RFC-0157) and Argos (RFC-0158); C++ runtime parallels RFC-0155 whisper.cpp on the translation side; shares translation-engine-class + runtime-dependency-profile Spec RFCs; request for comment from marian-nmt maintainers | Draft | 2026-05-28 | | 0160 | Outreach | BehaviorTree.CPP (canonical C++ behavior-tree engine) integration; Move #12 RFC, Tier A vendor-direct; first robot-command-library RFC in URML; proposal-only manifest mapping over BehaviorTree/BehaviorTree.CPP (MIT, 4.0k stars, Italy Faconti, last commit 2026-05-22); URML Layer-3 candidate compilation target; substrate-neutral (runs on ROS 2 + standalone); pairs with RFC-0161 py_trees on shared behavior-tree-runtime declaration Spec RFC (different language tags); sole-maintainer engagement-velocity calibration noted; request for comment from BehaviorTree maintainers | Draft | 2026-05-28 | | 0161 | Outreach | py_trees (Python behavior-tree engine for ROS 2) integration; Move #12 RFC, Tier A vendor-direct; license-clarification ask (Other → BSD-style); proposal-only manifest mapping over splintered-reality/py_trees (license Other, 604 stars, NZ/AU Stonier/Yujin lineage, last commit 2026-05-22); Python-side Layer-3 compilation target; shares behavior-tree-runtime declaration Spec RFC with RFC-0160 (C++ sibling); sole-maintainer engagement-velocity calibration; request for comment from splintered-reality maintainer | Draft | 2026-05-28 | | 0162 | Outreach | MoveIt Task Constructor (MoveIt 2 hierarchical task planning) integration; Move #12 RFC, Tier A vendor-direct; first industrial-manipulation-substrate RFC in URML; proposal-only manifest mapping over moveit/moveit_task_constructor (BSD-3-Clause, 271 stars, DE/US MoveIt community/PickNik, last commit 2026-04-23); concrete URML pick/place/swap_tool → MTC stage decomposition table (cross-link to RFC-0013 industrial profile); two novel Spec RFCs queued (manipulation-substrate declaration + URML-primitive-to-MTC-stage mapping); request for comment from moveit maintainers | Draft | 2026-05-28 | | 0163 | Outreach | SkiROS2 (knowledge + skills framework for ROS 2) integration; Move #12 RFC, Tier A research-lab-direct; license-clarification ask (Other); proposal-only manifest mapping over RobotLabLTH/SkiROS2 (license Other, 224 stars, Sweden Lund LTH, last commit 2025-06-09); surfaces knowledge-graph substrate as novel URML manifest concern; repo-location correction noted (Aalborg/RVMI → RobotLabLTH/Lund LTH); three novel Spec RFCs queued (skill-framework declaration + knowledge-graph-substrate declaration + skill-grounding-mode); research-cadence engagement-velocity calibration; request for comment from RobotLabLTH maintainers | Draft | 2026-05-28 | | 0164 | Outreach | LangChain LangGraph (agent orchestration DSL) integration; Move #12 RFC, Tier A vendor-direct; completes the Tier A half of Move-12 (RFCs 0153-0164); proposal-only manifest mapping over langchain-ai/langgraph (MIT, 33.2k stars, US LangChain Inc, daily activity); URML programs spawn LangGraph sub-agents for delegated planning; shares orchestration-framework declaration Spec RFC with Move-11 RFC-0143 smolagents + RFC-0145 Gemini SDK; execution-model enumeration (state_graph / code_generation / function_calling) added; request for comment from langchain-ai maintainers | Draft | 2026-05-28 | | 0165 | Outreach | Picovoice Porcupine (on-device wake-word detection) integration; Move #12 RFC, Tier B with commercial-SDK friction — Picovoice sells gated tiers; URML frames ask as open-source-tier composition; proposal-only manifest mapping over Picovoice/porcupine (Apache-2.0 SDK, 4.8k stars, Canada Vancouver, daily activity); wake-word front-end closes always-on speech-input gap (resource-footprint constraint that full STT cannot fill); introduces wake-word substrate declaration + license-tier declaration + wake-word-to-STT handoff manifest fields; cross-link to RFCs 0153-0155 STT engines as handoff targets; request for comment from Picovoice maintainers | Draft | 2026-05-28 | | 0166 | Outreach | OHF-Voice piper1-gpl (GPL-3.0 neural TTS, Piper successor) integration; Move #12 RFC, Tier B with GPL-3.0 friction — IPC-only integration shape (URML-as-subprocess-caller, never URML-embeds-Piper); completes Move-12 (all 16 engageable RFCs drafted); proposal-only manifest mapping over OHF-Voice/piper1-gpl (GPL-3.0, 4.2k stars, US Open Home Foundation, last commit 2026-04-07); active successor to archived rhasspy/piper; license-boundary declaration shares Spec RFC with RFC-0168 LibreTranslate (this RFC surfaces gpl_subprocess variant; 0168 surfaced agpl_network_boundary; unified Spec RFC); request for comment from OHF-Voice maintainers | Draft | 2026-05-28 | | 0167 | Outreach | Meta fairseq / NLLB-200 (200-language translation model, archived toolkit) integration; Move #12 RFC, Tier B with two friction notes — upstream archived 2025-09-30 + NLLB-200 weights CC-BY-NC 4.0 non-commercial; proposal-only manifest mapping over facebookresearch/fairseq (MIT code / CC-BY-NC weights, 32.2k stars, US Meta, isArchived: true); engagement-ask: what is the successor surface for NLLB engagement; introduces novel model-license + commercial-use-gate manifest fields (first concrete case where model-license declaration is load-bearing); request for comment from Meta maintainers; retargeted 2026-05-30 to facebookresearch/seamless_communication (fairseq archived) and posted | Open | 2026-05-30 | | 0168 | Outreach | LibreTranslate (AGPL-3.0 self-hosted translation server) integration; Move #12 RFC, Tier B with AGPL-3.0 friction — network-copyleft, REST-boundary-only integration shape (URML-as-client, never URML-embeds); completes the Move-12 translation bucket; proposal-only manifest mapping over LibreTranslate/LibreTranslate (AGPL-3.0, 14.4k stars, community/US-led, daily activity); introduces 3 novel manifest declarations (network-endpoint runtime + license-boundary + secret-reference — each a follow-up Spec RFC); request for comment from LibreTranslate maintainers | Draft | 2026-05-28 |

Move #18 (RFCs 0227-0230) — frame-break wave: adoption surfaces outside the robot-vendor model

Move #18 breaks the mental model every prior wave assumed. Moves 1-16 asked "which vendor could write an adapter"; Move #17 engaged governance bodies for a foundation home; Move #18 asks "what is a robot, and where does intent come from, if we stop assuming a robot-OEM lens." Four reframes, one target each in batch 1: things that are robots but nobody files under "robot" (Klipper — a 3D-printer / CNC gantry is a motion platform, G-code is a motion substrate); where the next roboticists are, not where vendors are (WPILib — the FIRST Robotics education on-ramp); research micro-platforms with clean demos (Crazyflie — open nano-drone, multirotor already fits); alternative intent inputs beside Layer-4 NL (OpenBCI / BrainFlow — a BCI intent signal as an input-bridge). Numbering note: Move #17 (government foundation-home wave) reserves RFCs 0212-0226, so this wave starts at 0227. Verified 2026-05-29 via the GitHub API per target (license, stars, Issues, isArchived, last push); all four not archived, Issues enabled. Batch 1 of N. Ledger: examples/lighthouses/outreach-move18.yaml.

| 0227 | Outreach | Klipper integration; first Move #18 RFC and first fabrication-motion RFC in URML; Tier B (GPL-3.0 → IPC/G-code-boundary integration, no code vendoring); the frame-break reframe that a 3D-printer / CNC gantry is a motion platform and G-code is a motion substrate; proposal-only manifest mapping over Klipper3d/klipper (GPL-3.0, 11.6k stars, US-lead community OSS, last commit 2026-05-27); fabrication-motion drive_type classes (cartesian/corexy/delta) + G-code substrate declaration + work-envelope Spec RFCs queued (RFC-0009 precedent); maps motion intent only, not extruder/thermal/material process; venue: Klipper Discourse/Discord over GitHub Issues; request for comment from Klipper maintainers; posted 2026-05-30 | Open | 2026-05-30 | | 0228 | Outreach | WPILib integration; Move #18 RFC, Tier A (BSD-3-Clause composes cleanly); first education-pipeline RFC in URML; the frame-break reframe that the FIRST Robotics student on-ramp is a strategic adoption surface (manifesto "optimize for inevitability"); proposal-only manifest mapping over wpilibsuite/allwpilib (BSD-3-Clause, 1.3k stars, US FIRST/WPI, last commit 2026-05-29); swerve drive_type class + CAN motor-controller declaration + competition-context metadata Spec RFCs queued; venue: Chief Delphi forum; request for comment from WPILib maintainers; posted 2026-05-30 | Open | 2026-05-30 | | 0229 | Outreach | Crazyflie / Bitcraze integration; Move #18 RFC, Tier B (cflib GPL-2.0 + firmware GPL-3.0 → CRTP/IPC-boundary integration, no code vendoring); the frame-break research-micro-platform reframe; proposal-only manifest mapping over bitcraze/crazyflie-lib-python (GPL-2.0, 334 stars, Sweden Bitcraze AB, last commit 2026-05-12); multirotor already fits (clean flight demo); first CRTP-protocol RFC (distinct from MAVLink RFC-0197); CRTP protocol-class + nano-scale-envelope Spec RFCs queued; swarm out of v0.1 scope; venue: Bitcraze forum/Discord; request for comment from Bitcraze maintainers | Draft | 2026-05-29 | | 0230 | Outreach | OpenBCI / BrainFlow integration; Move #18 RFC, Tier A (BrainFlow MIT); completes Move-18 batch 1; most exploratory of the batch — an input-bridge, not a runtime adapter; the frame-break reframe that a BCI-classified intent is an alternative intent input beside Layer-4 NL (non-verbal analog of Move-12 STT RFC-0153; extends the accessibility line RFC-0079); proposal-only mapping over brainflow-dev/brainflow (MIT, 1.7k stars, community OSS + OpenBCI US, last commit 2026-05-22; pyOpenBCI archived and dropped); non-language intent-input source + bci/neural sensor measurement_type + confidence-gated intent Spec RFCs queued; request for comment from BrainFlow and OpenBCI maintainers; posted 2026-05-29, engaged + closed amicably 2026-05-31 (maintainer Andrey1994 answered all questions; BrainFlow emits no labels, confidence gating is URML-side; P300-speller suggested) | Engaged | 2026-05-31 |

Move #18 batch 2-4 (RFCs 0231-0242) — frame-break wave continuation

Batches 2-4 extend each batch-1 reframe with more instances and add the conceptual-peer angle, completing the Move #18 wave. Batch 2 (0231-0234): motion-control and simulation (Marlin, OctoPrint, LinuxCNC, Webots). Batch 3 (0235-0240): education and humanoid platforms (PyBricks, PROS/VEX, NAOqi-driver, Pepper, Poppy, Reachy). Batch 4 (0241-0242): conceptual peers at the NL-to-action layer (Open Interpreter, Viam). These are the first RFCs drafted under the post-Nav2 reformed outreach shape (concrete example first, one or two real questions, light ask up front, full RFC as optional depth, under a two-minute read), so each is roughly half the length of a batch-1 RFC. RFC-0238 (Pepper) is a Tier C exclusion-with-cause: ledger row only, no RFC file (Pepper is engaged through RFC-0237 naoqi_driver). Verified 2026-05-29 via the GitHub API per target. Ledger: examples/lighthouses/outreach-move18.yaml.

| 0231 | Outreach | Marlin integration; Move #18 batch 2, Tier B (GPL-3.0 → G-code-stream boundary, no firmware vendoring); de-facto open 3D-printer firmware on cartesian/corexy/delta motion; proposal-only mapping over MarlinFirmware/Marlin (GPL-3.0, 17.4k stars); sibling to RFC-0227 Klipper at the firmware-vs-host split; shares fabrication-motion drive_type Spec RFCs with RFC-0227; venue GitHub Issue; request for comment from MarlinFirmware maintainers | Draft | 2026-05-29 | | 0232 | Outreach | OctoPrint integration; Move #18 batch 2, Tier B (AGPL-3.0 → REST/plugin boundary, never URML-embeds); 3D-printer host / web UI speaking G-code to Marlin/Klipper/RepRap; proposal-only mapping over OctoPrint/OctoPrint (AGPL-3.0, 9.0k stars); print-job-class intent + AGPL-network-boundary manifest Spec RFCs queued (latter shared with RFC-0168); venue OctoPrint forum/Discourse; request for comment from OctoPrint maintainers | Draft | 2026-05-29 | | 0233 | Outreach | LinuxCNC integration; Move #18 batch 2, Tier B (GPL-2.0 → G-code/HAL boundary, no code vendoring); general-purpose CNC controller (mill, lathe, plasma, robot arm, hexapod) on RT-Linux + HAL; proposal-only mapping over LinuxCNC/linuxcnc (GPL-2.0, 2.3k stars); broader scope than Marlin/Klipper; HAL-component substrate + CNC-machine-class enum Spec RFCs queued; venue LinuxCNC forum (primary), GitHub Issue (secondary); request for comment from LinuxCNC maintainers | Draft | 2026-05-29 | | 0234 | Outreach | Webots integration; Move #18 batch 2, Tier A (Apache-2.0 composes cleanly); first sim-substrate RFC outside the Gazebo path the ros2-runtime already exercises; proposal-only mapping over cyberbotics/webots (Apache-2.0, 4.4k stars, CH Cyberbotics); sim-substrate-class declaration Spec RFC queued; venue Webots Discussions/Discord; request for comment from cyberbotics/webots maintainers | Draft | 2026-05-29 | | 0235 | Outreach | PyBricks integration; Move #18 batch 3, education (LEGO MicroPython, one tier younger than WPILib at K-12); license-clarification ask (license Other); DriveBase maps to differential; proposal-only mapping over pybricks/pybricks-micropython (Other, 324 stars, Issues-off → route to pybricks/support); venue pybricks/support Q&A repo; request for comment from pybricks maintainers | Draft | 2026-05-29 | | 0236 | Outreach | PROS / VEX V5 integration; Move #18 batch 3, education; license-clarification ask (license Other); second VEX-V5 engagement after URML's existing edu-runtime VEX adapter; proposal-only mapping over purduesigbots/pros (Other, 311 stars, Purdue SIGBots); venue GitHub Issue + VEX Forum; request for comment from purduesigbots/pros maintainers | Draft | 2026-05-29 | | 0237 | Outreach | NAOqi-driver integration; Move #18 batch 3, humanoid; single engagement covering NAO + Pepper at the NAOqi-bridge layer; proposal-only mapping over ros-naoqi/naoqi_driver (Apache-2.0, 62 stars, ~1.5-yr stale); stale-substrate framing acknowledged; humanoid-platform-class enum Spec RFC queued; request for comment from ros-naoqi maintainers | Draft | 2026-05-29 | | 0238 | Outreach | Pepper (ros-naoqi/pepper_dcm_robot, license none, 4 stars, ~3-yr stale) — Tier C exclusion-with-cause stub; ledger row only, no RFC file; Pepper cross-engagement routes through RFC-0237 naoqi_driver instead | n/a (ledger-only) | 2026-05-29 | | 0239 | Outreach | Poppy Humanoid integration; Move #18 batch 3, humanoid (open-hardware research); license-clarification + is-this-still-maintained framing; proposal-only mapping over poppy-project/poppy-humanoid (license none, 970 stars, ~4.5-yr stale); high abandonment-signal risk, founder-call whether to post or hold; request for comment from poppy-project maintainers | Draft | 2026-05-29 | | 0240 | Outreach | Reachy 2 integration; Move #18 batch 3, humanoid, Tier A (Apache-2.0); commercial-OSS humanoid platform from Pollen Robotics, the cleanest Tier A in the humanoid sub-cluster; proposal-only mapping over pollen-robotics/reachy2-sdk (Apache-2.0, 52 stars); commercial-OSS vendor declaration Spec RFC queued; request for comment from Pollen Robotics maintainers | Draft | 2026-05-29 | | 0241 | Outreach | Open Interpreter integration; Move #18 batch 4, conceptual peer at the NL-to-action layer (same English-sentence shape, different action surface: general computer control vs robot intent); generalizes the ROSA/smolagents/LangGraph tool pattern; mutual-citation engagement over OpenInterpreter/open-interpreter (AGPL-3.0, 63.7k stars); agent-tool registration Spec RFC queued; request for comment from OpenInterpreter maintainers | Draft | 2026-05-29 | | 0242 | Outreach | Viam RDK integration; Move #18 batch 4, conceptual peer / partial-substrate; completes the Move #18 wave; proposal-only mapping over viamrobotics/rdk (AGPL-3.0, 164 stars, Issues-off → Viam Discord); request for comment from Viam maintainers | Draft | 2026-05-29 |

Move #19 (RFCs 0287-0289) — education-community wave: the classroom programming-environment / curriculum layer

Move #19 targets the one education layer no prior wave touched: the classroom programming environments and CS curricula above the device, not the device SDK. Moves 1-16 asked "which vendor writes an adapter"; Move #18 already engaged the device-toolchain layer and both education device SDKs there declined (PyBricks RFC-0235, PROS/VEX RFC-0236). Move #19 asks instead "where do the next students meet a robot, and who teaches them," and pitches URML as a plain-language, validated-intent front door and a teaching bridge, not an adapter into anyone's SDK. Paired with an artifact-first deliverable: runnable examples/educational/ programs and Tutorial 5, a 30-minute no-API-key offline lesson, so the outreach points at something concrete. Surfaces verified 2026-05-31 via the GitHub API (all three: Issues enabled, Discussions disabled, not archived, active). Tier-B partnership orgs (FIRST, REC Foundation, RoboCup Junior, Raspberry Pi Foundation / CoderDojo) are not GitHub-routable and are drafted in examples/lighthouses/founder-actions-move19.md. Ledger: examples/lighthouses/outreach-move19.yaml.

| 0287 | Outreach | Open Roberta Lab integration; first Move #19 RFC; the classroom-environment reframe (environment/curriculum layer, not a device SDK — distinct from declined RFC-0235/0236); strongest fit: exact platform overlap (LEGO / micro:bit / Thymio) with URML's edu-runtime, both Apache-2.0; proposal-only over OpenRoberta/openroberta-lab (Apache-2.0, ~143 stars, Fraunhofer IAIS DE); URML-manifest ↔ NEPO robot-plugin alignment + block-environment-substrate declaration Spec RFC queued; request for comment from Open Roberta maintainers | Draft | 2026-05-31 | | 0288 | Outreach | Microsoft MakeCode integration; Move #19, education-environment; complements the micro:bit Foundation thread (RFC-0172) at the authoring-environment layer (Foundation = platform, MakeCode = IDE); English-front-door + board-definition alignment framing; proposal-only over microsoft/pxt (MIT, ~2.3k stars, US) + microsoft/pxt-microbit; shares the firmware-language-substrate Spec RFC question with RFC-0172; request for comment from MakeCode maintainers | Draft | 2026-05-31 | | 0289 | Outreach | Snap! (BJC) integration; Move #19, completes the Tier-A wave; high-school CS-curriculum reach via Beauty and Joy of Computing; AGPL-3.0 boundary stated up front (cross-citation + lesson bridge, no shared code); proposal-only over jmoenig/Snap (AGPL-3.0, ~1.6k stars, UC Berkeley US); pedagogical value, harder to measure than an adapter; request for comment from Snap! maintainers | Draft | 2026-05-31 | | 0286 | Spec | Multi-robot fleet addressing and synchronized execution — a Layer-1 roster binding N manifests, additive Layer-3 on: (scope) and barrier: (sync) nodes, validate_fleet with four cross-robot checks, and a reference FleetRuntime; cashes the peer_link slot RFC-0006 reserved; the courier-to-arm handoff demo; cross-robot collision is the load-bearing value | Implemented | 2026-05-31 | | 0291 | Spec | Geometric cross-robot deconfliction — UTM-style operational volumes (FAA/NASA, ASTM F3548) replace RFC-0286's name-based collision check; a roster shared_frames reference + a Mobility.clearance volume (lateral footprint + vertical altitude/depth band); separation laterally, vertically, by medium (from drive_type), or in time (a barrier); handles ground/air/water; fixes the local-frame false positive | Implemented | 2026-05-31 | | 0290 | Spec | Frame-transform graph — SE(3) Frame.transform (activates the dormant Frame.parent) + roster world_frame/anchors + a pure-Python resolver; cross-frame geometry for fleet deconfliction (a drone's agl vs a rover's site, resolved into one world) and single-robot geofence/occupancy; refines RFC-0291's medium gate (air↔ground now geometric); resolves RFC-0291's #1 open question | Implemented | 2026-05-31 | | 0292 | Outreach | OhmniLabs / Ohmni integration; Move #20 (home-assistance round two); research-collab, off-GitHub; proposed OhmniAdapter for telepresence-for-aging-in-place. Withdrawn 2026-06-01: outreach returned an EOL notice — the Ohmni Telepresence Robot reached end-of-life 2026-01-01 (now a Symbotic line; support pivoted to OhmniCare + OhmniClean), so the adapter target no longer exists | Withdrawn | 2026-06-01 | | 0293 | Outreach | Blue Frog Robotics / Buddy integration; Move #20; proposal-only BuddyAdapter over the Buddy SDK via BlueFrogRobotics/BlueFrog_SDK_examples; first Move #20 target to exercise the home-profile speak/listen extensions; EU-domiciled companion robot; request for comment from BlueFrogRobotics SDK maintainers | Draft | 2026-05-31 | | 0294 | Outreach | Labrador Systems / Retriever integration; Move #20; research-collab, off-GitHub (no public developer surface); the strongest pure home-assistance fit in the wave (in-home meal/laundry/fetch delivery); region-based mobility; request for comment from Labrador Systems | Draft | 2026-05-31 | | 0295 | Outreach | Intuition Robotics / ElliQ integration; Move #20; research-collab, off-GitHub; a stationary elder-care companion mapped to a lower-bound speak/listen/measure/report subset per the RFC-0014 honest-substrate-limit norm; IL-origin sibling of RFC-0103 Maytronics; request for comment from Intuition Robotics | Draft | 2026-05-31 | | 0296 | Outreach | Andromeda Robotics / Abi integration; Move #20, closes the wave; research-collab, off-GitHub + early-stage (AU aged-care humanoid, platform in build-out); a forward-looking courtesy touch centered on companion speak/listen; request for comment from Andromeda Robotics | Draft | 2026-05-31 | | 0297 | Outreach | VDA5050 integration; Move #21 (warehouse / intralogistics AMR), opens the wave; URML composes above the dominant AGV/AMR master-control interface standard (URML intent → VDA5050 order/instantActions); differentiator is cross-robot static validation (validate_fleet RFC-0286 + clearance RFC-0291) a per-vehicle interface can't express; zero new vocabulary (RFC-0022); request for comment from VDA5050/VDA5050 | Draft | 2026-06-01 | | 0298 | Outreach | InOrbit ros_amr_interop integration; Move #21 interop hub; one repo where the MassRobotics AMR Interop Standard + an Open-RMF fleet adapter + VDA5050 examples converge; also URML's engagement vehicle for the MassRobotics standard (its own spec repo is dormant since 2021); one intent description, two orchestration exits; request for comment from inorbit-ai | Draft | 2026-06-01 | | 0299 | Outreach | openTCS integration; Move #21; URML intent → openTCS transport orders → VDA5050 comm-adapter → vehicle = a fully open, offline fleet-control stack; pre-dispatch static validation complements runtime routing; zero new vocabulary; request for comment from openTCS/opentcs (Fraunhofer IML) | Draft | 2026-06-01 | | 0300 | Outreach | Locus Robotics integration; Move #21; research-collab, off-GitHub (closed vendor surface); goods-to-person AMR leader; realistic bridge is the interop layer (RFC-0297/0298), not a Locus-private API; request for comment from Locus Robotics | Draft | 2026-06-01 | | 0301 | Outreach | Vecna Robotics integration; Move #21; research-collab, off-GitHub; pallet / material-handling AMRs (Pivotal); MassRobotics-standard working-group member; interop layer is the bridge; request for comment from Vecna Robotics | Draft | 2026-06-01 | | 0302 | Outreach | Seegrid integration; Move #21; research-collab, off-GitHub; infrastructure-free vision-guided AMRs/AGVs (Palion); MassRobotics-standard working-group member; interop layer is the bridge; request for comment from Seegrid | Draft | 2026-06-01 | | 0303 | Outreach | Mobile Industrial Robots (MiR) integration; Move #21, closes the wave; research-collab, off-GitHub (DK / Teradyne; allied); global AMR leader with VDA5050 support → RFC-0297 is the natural bridge; request for comment from MiR | Draft | 2026-06-01 | | 0260 | Spec | language block — declaring Layer-4 NL infrastructure (stt_engine_class / tts_engine_class / translation_engine_class closed enums + engine_options); validator license advisories (piper/nllb/libretranslate) + listen/speak engine-undeclared suggestion + the vosk US-federal origin gate under the default policy; foundation of the translation-licensing stack (RFC-0262/0268/0304); surfaced by the Move-12 speech/translation wave | Implemented | 2026-06-12 | | 0262 | Spec | licensing block — per-component license + integration boundary (vendored / subprocess / network_rest / cross_citation); vendored-copyleft is a hard error, policy_required_max_restrictiveness caps restrictiveness under a policy; supplies the commercial_use_gate field + LicenseId enum the RFC-0260/0304 stack builds on; surfaced by Piper/NLLB/LibreTranslate/ORB-SLAM3 boundaries | Implemented | 2026-06-12 | | 0268 | Spec | deployment block — commercial_use (defaults true, most-restrictive) + deployment_class; closes RFC-0262's commercial-use-gate loop: a commercial deployment with a commercial_use_gate (CC-BY-NC) component is refused under policy (policy.commercial_use_gate_violated), a soft advisory otherwise; last prerequisite before RFC-0304 | Implemented | 2026-06-12 | | 0304 | Spec | language.translation_alternatives — declaring a commercial-eligible permissive translation substrate alongside a license-gated primary; adds an open_llm engine class (Qwen / Gemma families) extending RFC-0260, pairs with RFC-0262's commercial_use_gate, and converts RFC-0268's commercial-plus-CC-BY-NC hard failure into a fork when a permissive alternative is declared; surfaced by the NLLB-200 maintainer's guidance on RFC-0167; closes that engaged thread (the commercial dead end becomes the permissive-open-LLM fork he recommended) | Implemented | 2026-06-13 | | 0305 | Outreach | Eclipse iceoryx2 (decentralized zero-copy IPC successor) integration; retargets RFC-0210 after maintainer @elBoberido confirmed (on #2530) the team's focus has fully shifted from C++ iceoryx to the Rust iceoryx2; reframes the IPC-substrate manifest mapping around iceoryx2's brokerless architecture (no RouDi daemon → config-path + messaging-pattern fields) and an iceoryx2 generation default; request for comment from the iceoryx2 maintainers | Draft | 2026-06-01 |

Move #22 (RFCs 0306-0318) — communication-layer wave

Move #22 engages the communication surfaces no prior wave touched, after a coverage check ruled out what is done: the DDS/transport spine (Move #16), fleet interop (Move #21 / Move #2), agent comms (RFC-0048), and most speech/dialogue (Move #12, with Vosk + Silero excluded as Russia-domiciled and not revisited). Four slices: web/teleop bridges, alternative transports/messaging, industrial OPC UA (URML's first), and the two net-new dialogue surfaces. It sits alongside RFC-0305 (iceoryx2), a parallel comms RFC. Every RFC frames URML as composing above the surface, never embedding it; license frictions (EMQX BSL, UA-.NETStandard RCL, LCM/opcua-asyncio LGPL, milo/mosquitto EPL) are stated in-RFC and resolved by client/IPC-boundary integration. Surfaces verified 2026-06-01. Research note: move22-research-2026-06-01.md; ledger: outreach-move22.yaml.

RFC	Kind	Summary	State	Updated
0306	Outreach	rosbridge_suite (RobotWebTools, BSD-3); lead web/teleop target; URML as a validated producer of rosbridge websocket ops; manifest-from-advertised-types question; websocket/bridge transport-declaration Spec RFC queued	Draft	2026-06-01
0307	Outreach	webrtc_ros (RobotWebTools, license Other — clarification ask); validated intent on the WebRTC data channel for teleop; relates to RFC-0006 link-loss; upstream last push 2024-07	Draft	2026-06-01
0308	Outreach	micro-ROS (Apache-2.0); lead transport target; extends the Move #16 DDS spine to the MCU tier over micro-XRCE-DDS (eProsima cross-cited); pairs with RFC-0018 / RFC-0011; MCU-transport substrate-class Spec RFC queued	Draft	2026-06-01
0309	Outreach	Eclipse eCAL (Apache-2.0); pub/sub transport beside DDS; URML validated-intent publisher; reinforces substrate neutrality	Draft	2026-06-01
0310	Outreach	LCM (LGPL-2.1 — library boundary, no vendoring); robotics-native messaging beyond DDS; channel/type-package manifest question	Draft	2026-06-01
0311	Outreach	Eclipse Mosquitto (EPL/EDL); reference MQTT broker; URML as MQTT client; makes explicit the broker layer under VDA5050-over-MQTT (RFC-0297); MQTT transport/QoS Spec RFC queued	Draft	2026-06-01
0312	Outreach	EMQX (BSL + CN-domiciled, both recorded); high-scale clustered MQTT broker; at-arms-length MQTT client only; Mosquitto's clustering counterpart	Draft	2026-06-01
0313	Outreach	open62541 (MPL-2.0); URML's first OPC UA engagement; lead OPC UA engineering target; on-manifesto (OPC UA Robotics); intent → method call/variable write; companion-spec mapping Spec RFC queued	Draft	2026-06-01
0314	Outreach	OPC Foundation UA-.NETStandard (RCL — protocol boundary, no redistribution); the standards body that stewards the OPC UA Robotics companion spec; highest OPC UA leverage	Draft	2026-06-01
0315	Outreach	Eclipse Milo (EPL-2.0); JVM OPC UA stack; same mapping as open62541, validated across C/.NET/Java/Python	Draft	2026-06-01
0316	Outreach	FreeOpcUa opcua-asyncio (LGPL-3.0 — library boundary); async Python OPC UA; the natural prototype path from URML's Python tooling	Draft	2026-06-01
0317	Outreach	openWakeWord (Apache-2.0); net-new open wake-word engine (open alternative to Porcupine RFC-0165); always-on front gate of spoken intent; fits the offline/no-key posture; confidence-gated speech-input Spec RFC queued (sibling RFC-0230)	Draft	2026-06-01
0318	Outreach	Rasa (Apache-2.0); net-new dialogue-management layer above Move #12 speech I/O; a Rasa custom action emits validated URML intent (complementary, not a dialogue-manager overlap)	Draft	2026-06-01

Move #23 (RFCs 0319-0321) — ros2_control / actuation-control stack: URML's Layer-1 HAL seam

Move #23 reaches the layer Move #16 (substrate spine, RFC-0200) deliberately skipped: ros2_control, the ROS 2 hardware-interface and motion-control framework where URML's Layer-1 Hardware Abstraction actually lands on actuators. URML composes above it (intent → validated primitive → controller → command interface → hardware); the differentiator is static validation against the capability manifest and the safety envelope before any command interface is claimed, one layer up from resource_manager's runtime arbitration. Altitude discipline: the ros-controls org owns most of the relevant repos, so the wave leads with one anchor Issue (RFC-0319) naming the whole framework family and folds the siblings (ros2_controllers, gz_ros2_control, control_toolbox, realtime_tools, control_msgs, kinematics_interface) rather than carpet-bombing the org; separate live posts go only to the genuinely distinct fieldbus drivers, EtherCAT (RFC-0320, ICube-Robotics) and CANopen (RFC-0321, ros-industrial). Surfaces verified 2026-06-02. Folded master libs (SOEM, CANopenNode) and the deferred EtherCAT Technology Group (no GitHub surface) are recorded in examples/lighthouses/outreach-move23.yaml; post bodies in examples/lighthouses/posts-move23.md. Note: this index appends after RFC-0305; the Move #22 communication wave (RFCs 0306-0318) lands separately and slots in ahead of these rows.

| 0319 | Outreach | ros2_control integration; Move #23 anchor (ros2_control / actuation-control stack); URML's Layer-1 HAL seam — intent → validated primitive → controller_manager controller → command interface → hardware; differentiator is static validation against the capability manifest + safety envelope before any command interface is claimed (complements resource_manager runtime arbitration); folds the whole ros-controls family into one thread (no org carpet-bomb); per-joint interface / controller-type / distro-version declarations queued as Spec RFCs, none proposed here; request for comment from the ros2_control maintainers | Draft | 2026-06-02 | | 0320 | Outreach | ethercat_driver_ros2 integration; Move #23, EtherCAT fieldbus beneath ros2_control; distinct org (ICube-Robotics, U. Strasbourg FR) + real-time-bus mapping; a ros2_control SystemInterface so the RFC-0319 primitive→controller→command-interface path carries through; bus topology / PDO-SDO / distributed clocks stay Layer 0 (RFC-0006 line); SOEM master lib folded; grounds substrate-neutrality at the hardest real-time end; request for comment from ICube-Robotics maintainers | Draft | 2026-06-02 | | 0321 | Outreach | ros2_canopen integration; Move #23, CANopen fieldbus beneath ros2_control, completes the EtherCAT+CANopen pair; CiA-402 device-profile mapping via a ros2_control SystemInterface; distinct repo/conversation from the consortium-level RFC-0038 (cross-linked, not re-pitched); object dictionary / node IDs stay Layer 0; CANopenNode stack folded; two-buses-one-abstraction substrate-neutrality data point; request for comment from ros2_canopen maintainers | Draft | 2026-06-02 |

Move #24 (RFCs 0322-0331) — simulation / digital-twin: the zero-hardware NL-to-motion layer

Move #24 targets the layer where URML's NL-to-validated-intent loop runs with no hardware: simulators (the hermetic demo posture, validated English → primitive → a robot entity in a sim → motion) and the digital-twin half (Eclipse Ditto, where the capability manifest is a robot's capability twin). A funnel-volume wave: 10 Tier-A live posts across 10 distinct orgs, plus 13 folded / Tier-B / Tier-C rows. Already covered and not duplicated: MuJoCo (RFC-0060), Drake (RFC-0059), Gazebo (Move #1), Isaac Lab (RFC-0050), mujoco_playground (RFC-0144), AI2-THOR (RFC-0147), Webots (RFC-0234). Folded siblings (o3de-extras, habitat-lab, NVIDIA Warp, PettingZoo/Gymnasium-Robotics) ride their anchors; research/closed/stale sims (SAPIEN/ManiSkill, robosuite, BEHAVIOR-1K, Cosys-AirSim, ARGoS, DART, CoppeliaSim, PyBullet, Flightmare) are recorded with cause. Surfaces verified 2026-06-02. Ledger: examples/lighthouses/outreach-move24.yaml; post bodies: examples/lighthouses/posts-move24.md.

| 0322 | Outreach | Genesis integration; Move #24, highest-momentum open sim (generative / differentiable physics); URML's hermetic-demo vehicle: validated English → primitive → a Genesis robot entity → motion, no hardware; differentiator is static validation vs the manifest + envelope before the sim steps; simulator-target class hint queued as a Spec RFC; request for comment from Genesis maintainers | Draft | 2026-06-02 | | 0323 | Outreach | NVIDIA Isaac Sim integration; Move #24; the Omniverse simulator app, distinct from RFC-0050 Isaac Lab (cross-linked, not a NVIDIA re-pitch); URML → Isaac Sim via the ROS 2 bridge / Action Graph; USD robot-description alignment queued; NVIDIA Warp folded; request for comment from Isaac Sim maintainers | Draft | 2026-06-02 | | 0324 | Outreach | O3DE (Open 3D Engine) integration; Move #24; LF-governed engine; URML → the ROS 2 Robotics Gem (o3de-extras, folded) → a simulated robot; URDF / spawnable manifest alignment; request for comment from O3DE maintainers | Draft | 2026-06-02 | | 0325 | Outreach | CARLA integration; Move #24; AV simulator; URML mobility (ackermann) + perception (camera/lidar/radar/GNSS/IMU) subset → a CARLA vehicle actor + sensor suite; honest AV-subset framing (no driving profile yet, queued); Python API vs ROS bridge boundary; request for comment from CARLA maintainers | Draft | 2026-06-02 | | 0326 | Outreach | Unity Robotics Hub integration; Move #24; URML → ROS-TCP-Connector → a Unity-simulated robot, URDF Importer ↔ manifest; leads with a maintenance-status check (repo ~1.5 yr stale); dormancy flagged as an explicit drawback; request for comment from Unity Robotics maintainers | Draft | 2026-06-02 | | 0327 | Outreach | Habitat integration; Move #24; embodied-AI navigation/interaction sim; URML navigation/perception subset → a Habitat agent (honest lower-bound subset per the RFC-0014 norm); habitat-lab folded; cross-link RFC-0147 (AI2-THOR); request for comment from Habitat maintainers | Draft | 2026-06-02 | | 0328 | Outreach | Project Chrono integration; Move #24; high-fidelity multibody / terramechanics / sensor sim; URML's pre-deployment-validation angle (validated intent vs rough-terrain / vehicle dynamics before real motion); PyChrono vs ROS boundary; cross-link RFC-0059 (Drake); request for comment from Project Chrono maintainers | Draft | 2026-06-02 | | 0329 | Outreach | Brax integration; Move #24; JAX differentiable physics for RL; the learned-controller-as-substrate angle (a Brax-trained policy URML dispatches to, bounded by the manifest + envelope); honestly newer ground; cross-link RFC-0060 / RFC-0144 (MJX lineage); request for comment from Brax maintainers | Draft | 2026-06-02 | | 0330 | Outreach | Eclipse Ditto integration; Move #24 digital-twin anchor (conceptually distinct from the sims); URML's capability manifest is a robot's capability twin → a Ditto Thing/Feature model; static validation complements the runtime twin; W3C WoT Thing Description alignment raised; Eclipse-sibling to RFC-0209/0210/0305; request for comment from Eclipse Ditto maintainers | Draft | 2026-06-02 | | 0331 | Outreach | Gymnasium integration; Move #24 conceptual peer (RL env API standard, not a sim); a URML-validated policy could expose a Gym env; manifest bounds the action space; PettingZoo ↔ URML fleet (RFC-0286); exploratory framing, no substrate claim; PettingZoo / Gymnasium-Robotics folded; request for comment from Farama Foundation maintainers | Draft | 2026-06-02 |

Move #25 (RFCs 0332-0341) — SLAM / state estimation (round 2): the pose-and-map source URML's frames are grounded against

Move #25 extends Move #16's SLAM upstreams (Cartographer 0205, ORB-SLAM3 0206, RTAB-Map 0207, Stella VSLAM 0211) to the localization / mapping / sensor-fusion substrate. Shared framing: URML does not do SLAM; it declares frames (REP-105) and declared_locations, consumes the pose/map estimate a SLAM or state-estimation substrate produces, and statically validates intent against the resulting world model before dispatch (cross-link RFC-0290 frame-transform graph, RFC-0006 connectivity). Estimate covariance is floated as a candidate safety-envelope input. AI-close-risk discipline: SLAM is heavy on single-author academic repos (the kind that have closed outreach as AI-content), so the 10 Tier-A posts favor active infrastructure / responsive-lab repos, and the famous-but-stale single-author headliners (FAST-LIO, LIO-SAM, VINS-Fusion; 15-24 mo stale) are deferred to Tier B with cause rather than cold-posted. Surfaces verified 2026-06-02. Ledger: examples/lighthouses/outreach-move25.yaml; post bodies: examples/lighthouses/posts-move25.md.

| 0332 | Outreach | robot_localization integration; Move #25 anchor; the canonical ROS EKF/UKF state estimator; produces the fused pose + map→odom→base_link transforms URML's frames / declared_locations are expressed against; URML declares the localization source, consumes the estimate, validates before dispatch; covariance floated as an envelope input; request for comment from robot_localization maintainers | Draft | 2026-06-02 | | 0333 | Outreach | GTSAM integration; Move #25; factor-graph optimization backend (Georgia Tech); honest lowest-direct-fit / boundary-check (URML talks to the estimator built on GTSAM, likely not GTSAM itself); ecosystem touch; request for comment from GTSAM maintainers | Draft | 2026-06-02 | | 0334 | Outreach | OpenVINS integration; Move #25; MSCKF visual-inertial estimator (U. Delaware); VIO pose grounds URML frames; GPL-3.0 boundary stated (runtime consumption / cross-citation, not vendoring); request for comment from OpenVINS maintainers | Draft | 2026-06-02 | | 0335 | Outreach | KISS-ICP integration; Move #25; minimal LiDAR odometry (PRBonn / Stachniss lab); odometry-only honesty (drift, no global map) and how URML declares that vs a full SLAM source; request for comment from KISS-ICP maintainers | Draft | 2026-06-02 | | 0336 | Outreach | GLIM integration; Move #25; globally-consistent LiDAR-inertial SLAM (Koide / AIST); map also backs occupancy checks; hdl_graph_slam (same maintainer) folded; request for comment from GLIM maintainers | Draft | 2026-06-02 | | 0337 | Outreach | OctoMap integration; Move #25; the occupancy / world-model side (3D octree map); URML validates a motion stays in free space before dispatch (cross-link RFC-0291 deconfliction); BSD core / GPL octovis split noted; request for comment from OctoMap maintainers | Draft | 2026-06-02 | | 0338 | Outreach | Ceres Solver integration; Move #25; general nonlinear optimization backend (Google); deepest layer, lowest direct fit (boundary check, expect "stay one layer up"); request for comment from Ceres Solver maintainers | Draft | 2026-06-02 | | 0339 | Outreach | fuse integration; Move #25; graph-based ROS sensor-fusion framework (Locus Robotics, the modern robot_localization successor); fused estimate grounds URML frames; distinct from RFC-0300 (Locus warehouse, off-GitHub), not a re-pitch; request for comment from fuse maintainers | Draft | 2026-06-02 | | 0340 | Outreach | DLIO integration; Move #25; Direct LiDAR-Inertial Odometry (UCLA VECTR); the LiDAR-inertial middle ground between odometry-only (RFC-0335) and full SLAM (RFC-0336); request for comment from DLIO maintainers | Draft | 2026-06-02 | | 0341 | Outreach | Kimera integration; Move #25; metric-semantic VIO/SLAM (MIT SPARK); two surfaces, pose grounds frames + speculative semantic-label ↔ object_vocabulary / declared_locations alignment; mild staleness noted; request for comment from MIT SPARK maintainers | Draft | 2026-06-02 |

Move #26 (RFCs 0342-0351) — motion planning / navigation: the planning layer between intent and control

Move #26 completes the substrate-to-motion stack. Moves #16/#23/#25 engaged the substrate spine, the ros2_control layer, and the SLAM/estimation layer; Move #26 is the planning / trajectory-generation / optimal-control layer between URML's Layer-2 primitives and those. Shared framing: URML does not plan; it declares the goal and the capability constraints (reachable workspace, velocity/payload, limits via the safety envelope), statically validates the request is admissible before the planner runs, then consumes the trajectory (the planner -> ros2_control RFC-0319 executes -> SLAM RFC-0332 supplies the world model). Mix: 6 direct-fit planning/control targets (OMPL, Ruckig, TOPP-RA, Crocoddyl, OCS2, teb_local_planner), 1 task-planner peer (PlanSys2, the closest target to URML's own layer), and 3 honest lowest-fit backends (Pinocchio, CasADi, acados) framed as boundary checks like the GTSAM/Ceres posts in Move #25. Already covered, not duplicated: MoveIt 2 (RFC-0202), Nav2 (RFC-0201), Drake (RFC-0059). Surfaces verified 2026-06-03. Folded/deferred (do-mpc, OpenRAVE, TOWR, mpc_local_planner under teb, SBPL) recorded with cause. Ledger: examples/lighthouses/outreach-move26.yaml; post bodies: examples/lighthouses/posts-move26.md.

| 0342 | Outreach | OMPL integration; Move #26 anchor; the de-facto sampling-based motion-planning library (the planning core MoveIt builds on); URML validates a query is admissible (declared reachable workspace + envelope) before OMPL plans; cross-link RFC-0202 (MoveIt uses OMPL); request for comment from OMPL maintainers | Draft | 2026-06-03 | | 0343 | Outreach | Ruckig integration; Move #26; online jerk-limited time-optimal trajectory generation; URML's declared velocity/accel/jerk limits are Ruckig's input constraints; online counterpart to TOPP-RA (RFC-0344); request for comment from Ruckig maintainers | Draft | 2026-06-03 | | 0344 | Outreach | TOPP-RA integration; Move #26; time-optimal parameterization of a given path under velocity/accel/torque limits; sits after OMPL (RFC-0342), offline counterpart to Ruckig (RFC-0343); request for comment from toppra maintainers | Draft | 2026-06-03 | | 0345 | Outreach | Pinocchio integration; Move #26; rigid-body dynamics backbone (INRIA/LAAS); honest backend / consistency check (the kinematic model URML's reachability + joint-limit declaration should stay consistent with; URML talks to the planner, not Pinocchio); request for comment from Pinocchio maintainers | Draft | 2026-06-03 | | 0346 | Outreach | Crocoddyl integration; Move #26; DDP optimal control for multi-contact dynamic motion (built on Pinocchio RFC-0345); URML dynamic-motion intent -> a dynamically-feasible trajectory; request for comment from Crocoddyl maintainers | Draft | 2026-06-03 | | 0347 | Outreach | OCS2 integration; Move #26; real-time MPC for switched systems (ETH RSL); URML intent + constraints -> an OCS2 MPC problem; receding-horizon MPC contrast vs Crocoddyl's DDP (RFC-0346); request for comment from OCS2 maintainers | Draft | 2026-06-03 | | 0348 | Outreach | CasADi integration; Move #26; general symbolic optimization / optimal-control framework (KU Leuven); deepest backend, lowest direct fit (boundary check, expect "talk to the controller built on CasADi"); LGPL noted as runtime/cross-citation; request for comment from CasADi maintainers | Draft | 2026-06-03 | | 0349 | Outreach | acados integration; Move #26; fast embedded NMPC (Freiburg syscop, built on CasADi RFC-0348); the constraint contact point (URML's capability/safety limits become hard OCP constraints); request for comment from acados maintainers | Draft | 2026-06-03 | | 0350 | Outreach | teb_local_planner integration; Move #26; Timed-Elastic-Band local navigation planner (TU Dortmund RST); URML mobile-base constraints -> a local trajectory; mpc_local_planner folded; cross-link RFC-0201 (Nav2); copyleft boundary noted; request for comment from teb_local_planner maintainers | Draft | 2026-06-03 | | 0351 | Outreach | PlanSys2 integration; Move #26 task-planning peer (closest to URML's own layer); PDDL2.1 task planning for ROS 2; a PDDL action ↔ a URML primitive, a plan ↔ a URML behavior, URML adds per-action capability+safety validation; peer-layer framing, not URML-above; cross-link RFC-0160/0161; request for comment from PlanSys2 maintainers | Draft | 2026-06-03 |

Move #27 (RFCs 0352-0361) — manipulation / grasping: realizing the grasp/release/reach primitives

Move #27 covers the IK / grasp / dexterous-hand / manipulation-planning layer that realizes URML's grasp, release, and move_to-a-pose primitives, complementing the planning (Move #26), control (Move #23), and SLAM (Move #25) waves. Shared framing: URML does not solve IK or detect grasps; it declares the target and the arm/gripper capability (grippers {kind, force range, accepted_classes}, reachable_workspace_m), statically validates admissibility before the substrate runs (target in reachable workspace; grasp within force range and accepted classes), then consumes the result. Two honesty notes baked into the wave: manipulation skews stale, so the live Tier-A favors active/major repos and the dormant grasp-detection + IK-sibling repos are deferred in grouped rows; and NVIDIA manipulation (cuRobo/Contact-GraspNet/STORM) is deferred to avoid over-touch (NVIDIA already engaged via Isaac, Moves #24). Per the 2026-06-03 anti-AI-tell guidance, no RFC or post carries a license-clarification ask. The dexterous-hand RFCs (LEAP, Shadow) openly ask what a multi-DoF gripper declaration should contain (URML's single-force-range gripper model is too coarse). Already covered, not duplicated: MoveIt 2 (RFC-0202), OMPL + the Move #26 planning wave, Pinocchio (RFC-0345), MuJoCo (RFC-0060). Surfaces verified 2026-06-03. Ledger: examples/lighthouses/outreach-move27.yaml; post bodies: examples/lighthouses/posts-move27.md.

| 0352 | Outreach | TRAC-IK integration; Move #27 anchor; the de-facto fast IK solver across ROS manipulation; URML validates a target is admissible (reachable workspace + envelope) before the solve, and treats a no-solution result as a capability signal; request for comment from TRACLabs maintainers | Draft | 2026-06-03 | | 0353 | Outreach | Pink integration; Move #27; differential IK as a QP over tasks, built on Pinocchio (RFC-0345); URML target -> a Pink task set; sibling of mink (RFC-0354); request for comment from Pink maintainers | Draft | 2026-06-03 | | 0354 | Outreach | mink integration; Move #27; MuJoCo-native differential IK (task-based QP, RFC-0060); the MuJoCo sibling of Pink; URML target -> a mink task set; request for comment from mink maintainers | Draft | 2026-06-03 | | 0355 | Outreach | MPlib integration; Move #27; lightweight manipulation motion-planning (wraps OMPL RFC-0342); the manipulation-specific counterpart to the general planner; haosulab (SAPIEN team); request for comment from MPlib maintainers | Draft | 2026-06-03 | | 0356 | Outreach | GraspNet integration; Move #27; 6-DoF grasp-pose source (GraspNet-1Billion baseline); URML's declared gripper (force range, accepted classes) filters candidate grasps; grasp-pose-source manifest gap; open-source academic (SJTU); request for comment from GraspNet maintainers | Draft | 2026-06-03 | | 0357 | Outreach | LEAP Hand integration; Move #27; low-cost open 16-DoF dexterous hand (CMU); openly asks what a dexterous / multi-DoF gripper capability declaration should contain (URML's gripper model is too coarse); request for comment from LEAP Hand maintainers | Draft | 2026-06-03 | | 0358 | Outreach | Shadow Robot integration; Move #27; ROS interface for the 20+ DoF Shadow Dexterous Hand (UK, commercial open-source); the richest case for the dexterous-hand capability gap (sibling LEAP RFC-0357); request for comment from Shadow Robot maintainers | Draft | 2026-06-03 | | 0359 | Outreach | RLBench integration; Move #27 conceptual; ~100-task manipulation benchmark (Imperial / Dyson lab); an RLBench task ↔ a URML behavior over validated primitives; benchmark-mapping, not a runtime adapter; request for comment from RLBench maintainers | Draft | 2026-06-03 | | 0360 | Outreach | robomimic integration; Move #27; imitation-learning manipulation (ARISE, on robosuite); learned-policy-as-substrate (URML bounds the policy's action space), like the Brax framing in Move #24; request for comment from robomimic maintainers | Draft | 2026-06-03 | | 0361 | Outreach | PlaCo integration; Move #27; whole-body kinematics/control as a QP (Rhoban / Bordeaux); whole-body sibling of Pink (RFC-0353)/mink (RFC-0354); tie to RFC-0010; request for comment from PlaCo maintainers | Draft | 2026-06-03 |

Move #28 (RFCs 0362-0371) — safety / runtime verification: the complement to URML's static validation

Move #28 is the closest category to URML's own identity. URML does static validation of intent against a capability manifest + safety envelope before dispatch; this ecosystem operates at the complementary lifecycle point: runtime monitoring of temporal / spatio-temporal properties (RTAMT, Reelay, Copilot, Ogma, MoonLight), spec / scenario / falsification machinery to test behavior (Scenic, VerifAI, esmini), and safe control / safe RL (safe-control-gym, OmniSafe). Shared framing: URML's safety envelope is a set of declared properties; a runtime monitor enforces them at runtime while URML rejects inadmissible intent before it ever runs. URML composes with these tools, it does not replace them. The load-bearing queued Spec RFC: a monitorable-property / temporal-logic specification attached to the safety envelope. Discipline: safety/RV is research-heavy (AI-close risk), so the wave leans on precise framing for a formal-methods audience, favors active repos, and defers the stale (Breach, py-MTL) and folded (safety-gymnasium under OmniSafe) with cause. Per the 2026-06-03 guidance, no RFC or post carries a license-clarification ask. Already covered, not duplicated: the compliance-policy mechanism (RFC-0004), link-loss safety (RFC-0006), deconfliction volumes (RFC-0291). Surfaces verified 2026-06-04. Ledger: examples/lighthouses/outreach-move28.yaml; post bodies: examples/lighthouses/posts-move28.md.

| 0362 | Outreach | RTAMT integration; Move #28 anchor; reference open STL runtime-monitoring library (AIT, Austria); URML's safety envelope <-> STL properties an online monitor enforces; static pre-dispatch + runtime monitor cover the lifecycle; request for comment from RTAMT maintainers | Draft | 2026-06-04 | | 0363 | Outreach | Reelay integration; Move #28; efficient header-only C++ runtime monitors (past-MTL); the on-robot monitor implementation for an envelope property; sibling of RTAMT (RFC-0362); request for comment from Reelay maintainers | Draft | 2026-06-04 | | 0364 | Outreach | Copilot integration; Move #28; stream-based hard-real-time C monitor generation (NASA Langley / Galois); the deployment-grade runtime guard for envelope properties; Ogma (RFC-0365) emits it; request for comment from Copilot maintainers | Draft | 2026-06-04 | | 0365 | Outreach | Ogma integration; Move #28; NASA tool generating runtime monitors from formal requirements (emits Copilot RFC-0364, integrates with ROS); the closest existing path from a declared property to a framework-integrated monitor; request for comment from Ogma maintainers | Draft | 2026-06-04 | | 0366 | Outreach | Scenic integration; Move #28 spec-language peer; probabilistic scenario-specification language (UC Berkeley); URML (intent) x Scenic (scenario) = a complete human-readable test spec; peer-and-compose, not URML-above; request for comment from Scenic maintainers | Draft | 2026-06-04 | | 0367 | Outreach | VerifAI integration; Move #28; falsification + formal analysis for AI/autonomy (UC Berkeley, with Scenic RFC-0366); URML envelope properties -> a falsification loop -> envelope/capability refinement; request for comment from VerifAI maintainers | Draft | 2026-06-04 | | 0368 | Outreach | safe-control-gym integration; Move #28; safe-control / safe-RL benchmark with constraints (U Toronto LSY); URML intent-level limits <-> control-level constraints (CBF/MPC); request for comment from safe-control-gym maintainers | Draft | 2026-06-04 | | 0369 | Outreach | OmniSafe integration; Move #28; safe-RL framework (constrained MDPs, PKU; open-source academic); URML envelope bounds a learned safe policy (learned-policy-as-substrate, cf. RFC-0360); safety-gymnasium folded; request for comment from OmniSafe maintainers | Draft | 2026-06-04 | | 0370 | Outreach | esmini integration; Move #28; ASAM OpenSCENARIO player (standards-based test harness); a URML-governed agent as the controlled entity in a scenario run; contrast with Scenic (RFC-0366); request for comment from esmini maintainers | Draft | 2026-06-04 | | 0371 | Outreach | MoonLight integration; Move #28; spatio-temporal logic (STREL) monitoring (IMT, Italy); the right vocabulary for spatial+temporal envelope properties (geofence-over-time, fleet separation, cf. RFC-0291); spatio-temporal sibling of RTAMT; request for comment from MoonLight maintainers | Draft | 2026-06-04 |

Move #29 (RFCs 0372-0380) — open humanoid / legged robots (round 2)

Move #29 targets the 2025-26 open-humanoid surge plus the open legged-locomotion control / RL stacks, extending the earlier legged/humanoid touches (ANYmal RFC-0049, Berkeley Humanoid Lite RFC-0069, Stanford Pupper RFC-0075, ODRI Solo RFC-0076, 1X RFC-0187, Reachy RFC-0240). The gap it surfaces: the richer whole-body (legs + arms, balance) capability shape a humanoid manifest needs, so every Tier-A RFC asks what that declaration should carry. URML composes above a legged platform; the locomotion controller (learned policy or MPC/WBC) is the substrate.

Correction (2026-06-04). The posts and RFCs in this wave overstated the gap: they claim mobility.drive_type has no legged / bipedal / quadruped class. That is false. The biped and quadruped classes have existed since RFC-0009 (Implemented 2026-05-19); the error came from reading a drifted Layer-1 spec doc, fixed in the RFC-0010 build. The whole-body manipulation half of the queued work then shipped as RFC-0010. The genuine open question (what a humanoid manifest should declare for whole-body kinematics and balance) stands. The 9 live issues get a correction comment. Tiering reality: the category skews PRC-domiciled (Unitree, RobotEra) and research-heavy, so the 9 live Tier-A are allied/active/open (US, ETH-CH, FR, ES, open-academic) and the PRC hardware-vendor stacks are deferred with cause (RFC-0003). Per the 2026-06-03 guidance, no RFC or post carries a license-ask. Already covered: Isaac Lab (RFC-0050), mujoco_playground (RFC-0144), OCS2 (RFC-0347). Surfaces verified 2026-06-04. Ledger: examples/lighthouses/outreach-move29.yaml; post bodies: examples/lighthouses/posts-move29.md.

| 0372 | Outreach | ToddlerBot integration; Move #29 anchor; open low-cost 3D-printable bipedal humanoid (Stanford); the clearest motivation for the legged-mobility-class + whole-body capability gap; partly a design conversation; request for comment from ToddlerBot maintainers | Draft | 2026-06-04 | | 0373 | Outreach | Open Duck Mini integration; Move #29; open BDX-style biped with a learned walk policy (France); URML bounds a navigation-level intent while the RL policy owns the gait (learned-policy-as-substrate); request for comment from Open Duck Mini maintainers | Draft | 2026-06-04 | | 0374 | Outreach | K-Scale Labs integration; Move #29; fully open humanoid stack (ksim training + kos runtime, folded; US); asks where a validated-intent layer sits relative to kos; request for comment from K-Scale maintainers | Draft | 2026-06-04 | | 0375 | Outreach | PAL Robotics TALOS integration; Move #29; full-size torque-controlled humanoid OEM (Spain, allied); the legged sibling of TIAGo (RFC-0068); legged-mobility-class at OEM scale; request for comment from PAL Robotics maintainers | Draft | 2026-06-04 | | 0376 | Outreach | legged_gym integration; Move #29; reference Isaac-based massively-parallel legged-locomotion RL training (ETH); the trained policy is the locomotion substrate URML bounds; built on Isaac (RFC-0050); request for comment from legged_gym maintainers | Draft | 2026-06-04 | | 0377 | Outreach | rsl_rl integration; Move #29; fast on-policy RL library for legged robots (ETH, under legged_gym + Isaac Lab); backend-boundary framing + the idea that a trained policy could export the limits it was trained under; request for comment from rsl_rl maintainers | Draft | 2026-06-04 | | 0378 | Outreach | DIAL-MPC integration; Move #29; training-free real-time legged whole-body control via diffusion-style sampling MPC (CMU LeCAR); contrast to the learned-policy stacks and to OCS2 (RFC-0347); request for comment from DIAL-MPC maintainers | Draft | 2026-06-04 | | 0379 | Outreach | legged_control integration; Move #29; complete MPC+WBC legged stack built on OCS2 (RFC-0347), ros2_control-style (RFC-0319); open-academic; request for comment from legged_control maintainers | Draft | 2026-06-04 | | 0380 | Outreach | rl_games integration; Move #29; high-throughput RL training library behind many Isaac locomotion policies; backend, lowest direct fit (boundary check + capability-export question, mirrors rsl_rl); request for comment from rl_games maintainers | Draft | 2026-06-04 |

Spec RFCs from engagement feedback (RFCs 0381-0385)

These are Spec RFCs (they change URML's normative surface) surfaced by the engaged outreach threads, not new outreach. Each one converts a gap a maintainer pointed at into a concrete, optional, backward-compatible schema addition, for review. None adds a Layer-2 primitive.

RFC	Kind	Summary	State	Updated
0381	Spec	Optional Layer-1 validation block: terrain_fidelity + simulator_target_class closed-enum hints; surfaced + queued by RFC-0328 (Chrono) and the Move #24 sim wave; read by the sim runtimes, checked but not enforced by the validator	Implemented	2026-06-04
0382	Spec	Optional monitorable_properties on the safety envelope: a small closed temporal-logic core (STL/STREL) over declared signals, compiled to monitor backends; the load-bearing queued Spec RFC named by the Move #28 safety wave (RTAMT/Reelay/Copilot/Ogma/MoonLight)	Implemented	2026-06-04
0383	Spec	Optional Layer-1 learned_policy block declaring a learned controller's training envelope (command ranges, terrain classes, payload); validator refuses intent outside it; surfaced by rsl_rl (RFC-0377) + the learned-policy-as-substrate threads (rl_games/legged_gym/Open Duck Mini/OmniSafe/robomimic)	Implemented	2026-06-04
0384	Spec	Optional Layer-1 whole_body block: kinematic chains (legs/arms/torso, DoF, arm_ref into manipulation.arms) + static-stability limits (static_stable, can_carry_while_moving, max_incline/tilt, center_of_mass within support_polygon); validator checks structure + CoM-in-polygon + a carry-while-moving gate; the locomotion-side complement to RFC-0010, answering the Move #29 humanoid threads (ToddlerBot/K-Scale/TALOS/Open Duck Mini/legged_gym/legged_control)	Implemented	2026-06-04
0385	Spec	Optional substrate.ipc block: the zero-copy IPC sub-substrate beneath the RMW (iceoryx generation). generation iceoryx1/iceoryx2/custom + runtime_name (iceoryx1) vs config_path (iceoryx2) + messaging_pattern/memory-budget/pub-sub counts; validator enforces generation coherence (4 codes); realizes the spec gap the engaged iceoryx/iceoryx2 thread named (RFC-0210/0305, @elBoberido, iceoryx#2530)	Implemented	2026-06-06

Outreach to what we built for (Move #30, RFCs 0386-0387)

Targeted outreach to the communities whose gaps the casting->building run just closed, each now backed by a shipped, Implemented spec artifact. Outreach RFCs ("No spec change is proposed here"). Drafted; posting awaits authorization (ledger outreach-move30.yaml, bodies posts-move30.md).

RFC	Kind	Summary	State	Updated
0386	Outreach	Autoware integration; Move #30; URML as a validated intent layer above Autoware — maps RFC-0020 plan_path -> planning pipeline and follow_trajectory -> control stack, research-grade (no AV-safety claim); request for comment from the Autoware community (autowarefoundation/autoware, 11.7k stars)	Draft	2026-06-06
0387	Outreach	Eclipse S-CORE integration; Move #30; URML's RFC-0019 ara::com program binding (service/instance/method id triple on a call_program) + RFC-0016 realtime for Execution-Management timing, mapped onto the open AUTOSAR-Adaptive SDV core; request for comment from the eclipse-score/score maintainers	Draft	2026-06-06

The space / planetary wave (Move #31, RFCs 0388-0395)

URML's first wave into space robotics (civilian/research only). Three shapes mapped onto existing URML surfaces (no new spec): ROS 2 substrates the runtime targets directly, flight-software substrates bound via call_program (the RFC-0019 pattern), a language-layer peer, and one observability integration. Surfaces verified 2026-06-06. Drafted; posting awaits authorization (ledger outreach-move31.yaml, bodies posts-move31.md).

RFC	Kind	Summary	State	Updated
0388	Outreach	Space-ROS integration; Move #31 anchor; URML's ROS 2 runtime targets the NASA/Open Robotics/Blue Origin safety-hardened ROS 2 directly (space-ros/space-ros, BSD-3); folds the space-ros/demos Curiosity/Canadarm2 surface; RFC from the Space-ROS community	Draft	2026-06-06
0389	Outreach	F´ (F Prime) integration; Move #31; a flight-software substrate bound via call_program (the RFC-0019/0015 pattern) + rate-group timing -> RFC-0016 realtime; nasa/fprime (Apache-2.0, ~11k stars); RFC from F´ maintainers	Draft	2026-06-06
0390	Outreach	core Flight System (cFS) integration; Move #31; second flight-software substrate binding (app-command via call_program); nasa/cFS (Apache-2.0); RFC from cFS maintainers	Draft	2026-06-06
0391	Outreach	ROSA (JPL) integration; Move #31; language-layer peer (not a substrate) — "ROSA emits, URML validates before dispatch"; nasa-jpl/rosa (Apache-2.0); RFC on a validate-before-dispatch layer + joint demo	Draft	2026-06-06
0392	Outreach	Astrobee (NASA) integration; Move #31; flagship ISS free-flyer, URML ROS 2 runtime target; manifest design question (keep-out zones, prop limits); nasa/astrobee (Apache-2.0, Issues only); RFC from Astrobee maintainers	Draft	2026-06-06
0393	Outreach	OmniLRS integration; Move #31; Omniverse Lunar Robotics Simulator, URML drives a rover via its ROS 2 / Space-ROS bridge; ties to RFC-0381 validation; OmniLRS/OmniLRS (BSD-3, Issues only); RFC from OmniLRS maintainers	Draft	2026-06-06
0394	Outreach	JPL Open Source Rover integration; Move #31; Tier B education/demo angle (URML NL->motion as a teaching layer); nasa-jpl/open-source-rover (Apache-2.0, ~9.4k stars, software stale 2023); RFC from the rover community	Draft	2026-06-06
0395	Outreach	Open MCT (NASA) integration; Move #31; Tier B adjacent — URML's audit trail + safety-envelope state as an Open MCT telemetry source (integration/visibility, not a substrate claim); nasa/openmct (Apache-2.0, ~13k stars); RFC from Open MCT maintainers	Draft	2026-06-06

The marine / underwater wave (Move #32, RFCs 0396-0403)

URML's first ocean-robotics wave, leveraging the shipped marine-runtime (BlueRovAdapter over ArduSub/MAVLink). Civilian/research only. BlueROV2/ArduSub stacks the runtime targets directly, underwater simulators driven via the ROS 2 bridge, and the ROS Maritime WG at the standards altitude. Surfaces verified 2026-06-06. Drafted; posting awaits authorization (ledger outreach-move32.yaml, bodies posts-move32.md). ArduSub/ArduPilot excluded (venue-declined earlier).

RFC	Kind	Summary	State	Updated
0396	Outreach	blue (Robotic Decision Making Lab) integration; Move #32 anchor; ROS 2 underwater platform on BlueROV2/ArduSub — the closest analog to URML's marine-runtime; folds auv_controllers (ros2_control) + angler (UVMS); MIT; RFC from the lab	Draft	2026-06-06
0397	Outreach	orca4 integration; Move #32; ROS 2 AUV for BlueROV2 (ArduSub + Nav2 + mavros) — the exact pairing URML's marine-runtime targets; MIT, ~186 stars; RFC from the maintainer	Draft	2026-06-06
0398	Outreach	BlueOS (Blue Robotics) integration; Move #32; the onboard OS hosting the MAVLink/ArduSub surface URML's marine-runtime rides; AGPL-3.0+custom (no license-ask; URML ships nothing under it); RFC from Blue Robotics	Draft	2026-06-06
0399	Outreach	Stonefish integration; Move #32; high-fidelity underwater sim (stonefish_ros) — URML drives via the ROS 2 bridge, ties RFC-0381; GPL-3.0 (no license-ask); RFC from the maintainer	Draft	2026-06-06
0400	Outreach	DAVE (IOES-Lab) integration; Move #32; active ROS 2/Gazebo continuation of Project DAVE, underwater sim/test env; Apache-2.0; RFC from the maintainers	Draft	2026-06-06
0401	Outreach	HoloOcean integration; Move #32; Tier B; ROS 2 bridge onto the UE5 underwater sim (HoloOcean 2.0 + Fossen dynamics); MIT; RFC from the BYU maintainers	Draft	2026-06-06
0402	Outreach	MARUS (LABUST) integration; Move #32; Tier B; Unity marine sim (surface + underwater) with a gRPC ROS 2 adapter; Apache-2.0; RFC from the maintainers	Draft	2026-06-06
0403	Outreach	ROS Maritime Working Group integration; Move #32; standards altitude — align URML with maritime_interfaces (target the standard, not a parallel one), WG-style engagement (Discourse/meeting venue); MIT; RFC from the WG	Draft	2026-06-06

The agriculture / farm-robotics wave (Move #33, RFCs 0404-0411)

URML's farm-robotics vertical. Civilian/research only. The open ag-robotics surface is moderately thin (most ag-robot vendors are proprietary); ~8 quality engageable targets, anchored by FarmBot (mature open CNC farming, bound via call_program over its sequence API) and the L-CAS / Agri-OpenCore academic cluster. Open farm platforms, the ROS 2 ag control stack, ag simulators driven via the ROS 2 bridge (ties RFC-0381), and a detect-then-spray weeding device. Surfaces verified 2026-06-06. Drafted; posting awaits authorization (ledger outreach-move33.yaml, bodies posts-move33.md). Closed vendors (Naio/Carbon/FarmWise/Ecorobotix/Bosch) and stale orgs (ros-agriculture, OpenAg) excluded.

RFC	Kind	Summary	State	Updated
0404	Outreach	FarmBot (FarmBot/farmbot_os) integration; Move #33 anchor; canonical open-source CNC farming robot, non-ROS — bind named sequences via call_program (RFC-0019 pattern) over its REST/MQTT API; folds Farmbot-Web-App; MIT; RFC from FarmBot maintainers	Draft	2026-06-06
0405	Outreach	farm-ng Amiga (farm-ng/amiga-dev-kit) integration; Move #33; open dev kit (gRPC + ROS bridges) for the Amiga rugged ag micro-tractor; URML dispatches drive/nav intent via the ROS bridge; RFC from farm-ng maintainers	Draft	2026-06-06
0406	Outreach	CropCraft (Romea/cropcraft) integration; Move #33; procedural 3D crop-field world generator for robotics sim — URML drives a field robot in a CropCraft world via ROS 2, ties RFC-0381; Apache-2.0; RFC from the Romea ag-robotics group	Draft	2026-06-06
0407	Outreach	OpenWeedLocator (geezacoleman/OpenWeedLocator) integration; Move #33; low-cost image-based weed-detection + spot-spray device — maps onto URML's detect-then-act split; MIT; RFC from the maintainer	Draft	2026-06-06
0408	Outreach	Agri-OpenCore (LCAS/aoc_tomato_farm) integration; Move #33; L-CAS org-anchor; tomato-glasshouse digital-twin + sim from Univ. Lincoln (most active academic agri-robotics ecosystem); harvesting ties RFC-0010; Apache-2.0; RFC from L-CAS	Draft	2026-06-06
0409	Outreach	FarmBot-ROS2 (farmbot-ros/interfaces) integration; Move #33; Tier B; modular ROS 2 Humble re-implementation of FarmBot control (AURA / Maynooth); org-anchor on interfaces; align typed intent with the message contracts; MIT; RFC from the maintainers	Draft	2026-06-06
0410	Outreach	PRBonn AgriBot (PRBonn/agribot) integration; Move #33; from-scratch ag data-recording field robot from the Univ. Bonn Photogrammetry & Robotics lab; consume their crop/weed perception as detect sources (Move #25 pattern); BSD-2-Clause; RFC from the lab	Draft	2026-06-06
0411	Outreach	smart_diffbot (SaxionMechatronics/smart_diffbot) integration; Move #33; Tier B; ROS 2 differential-drive robot with Nav2-based outdoor GNSS navigation — move_to onto Nav2 (Move #16); Apache-2.0; RFC from the maintainers	Draft	2026-06-06

The aerial / drone-autonomy wave (Move #34, RFCs 0412-0421)

URML's aerial-autonomy vertical, at the application altitude above the flight-controller substrate already engaged in Move #16 (PX4/MAVLink/MAVSDK/QGC/mavros). Leverages the shipped aerial drive type + PX4 reference runtime. Civilian/research only. ROS 2 aerial-autonomy frameworks, swarm/fleet aerial (ties RFC-0286), and aerial simulators URML drives via PX4 / the ROS 2 bridge (ties RFC-0381), including wrapping a learned controller in a validated envelope. Surfaces verified 2026-06-07. Drafted; posting awaits authorization (ledger outreach-move34.yaml, bodies posts-move34.md). Excluded: agilicious (academic-use-only license), flightmare/rotors_simulator (dormant), Prometheus (stale + PRC-adjacent), AirStack (TAK/defense), Fast-Planner/ego-planner (GPL-3.0 + planning covered in Move #26).

RFC	Kind	Summary	State	Updated
0412	Outreach	Aerostack2 (aerostack2/aerostack2) integration; Move #34 anchor; ROS 2 framework for autonomous multi-aerial-robot systems (CVAR-UPM); aerial drive + PX4/ROS 2 runtime onto Aerostack2 behaviors; multi-aerial ties RFC-0286; BSD-3-Clause; RFC from the maintainers	Draft	2026-06-07
0413	Outreach	MRS UAV System (ctu-mrs/mrs_uav_system) integration; Move #34; full multi-UAV control/estimation/sim platform with real outdoor deployment (CTU Prague); URML onto the control/tracker surface; BSD-3-Clause; RFC from the maintainers	Draft	2026-06-07
0414	Outreach	Crazyswarm2 (IMRCLab/crazyswarm2) integration; Move #34; ROS 2 stack for Crazyflie nano-quad swarms (TU Berlin) — cleanest exercise of the URML fleet model (RFC-0286); MIT; RFC from the maintainers	Draft	2026-06-07
0415	Outreach	RotorPy (spencerfolk/rotorpy) integration; Move #34; Python multirotor sim with realistic aerodynamics for edu/research (UPenn); validated aerial program onto the sim (ties RFC-0381); MIT; RFC from the maintainer	Draft	2026-06-07
0416	Outreach	Pegasus Simulator (PegasusSimulator/PegasusSimulator) integration; Move #34; NVIDIA Isaac Sim multirotor framework with PX4 (IST Lisbon) — same PX4 seam URML uses on hardware; BSD-3-Clause; RFC from the maintainers	Draft	2026-06-07
0417	Outreach	gym-pybullet-drones (learnsyslab/gym-pybullet-drones) integration; Move #34; most-starred open drone-RL sandbox (UTIAS/Cambridge) — wrap a learned controller in a validated envelope (decide-then-do applied to learning); MIT; RFC from the maintainers	Draft	2026-06-07
0418	Outreach	NTNU ARL (ntnu-arl/unified_autonomy_stack) integration; Move #34; org-anchor; generalizable autonomy blueprint + aerial_gym_simulator (NTNU Autonomous Robots Lab); above the planning layer or wrapping a trained policy; BSD-3-Clause; RFC from the lab	Draft	2026-06-07
0419	Outreach	kr_autonomous_flight (KumarRobotics/kr_autonomous_flight) integration; Move #34; Tier B; complete GPS-denied autonomous-flight stack (Kumar Lab, UPenn) — consume the estimate (Move #25 posture); UPenn academic license (no license-ask); RFC from the lab	Draft	2026-06-07
0420	Outreach	CERLAB UAV Autonomy (Zhefan-Xu/CERLAB-UAV-Autonomy) integration; Move #34; Tier B; modular UAV autonomy framework (CMU CERLAB); align typed intent per module, perception as detect sources; MIT; RFC from the maintainer	Draft	2026-06-07
0421	Outreach	XTDrone (robin-shaun/XTDrone) integration; Move #34; Tier B; PX4 + ROS + Gazebo UAV teaching sandbox (Peking Univ; academic) — same PX4 seam URML uses on hardware (ties RFC-0381); MIT; RFC from the maintainer	Draft	2026-06-07

The mobile-manipulation / service-robot wave (Move #35, RFCs 0422-0430)

URML's integrated-platform vertical: whole-robot stacks that combine mobile navigation and manipulation — the cleanest exercise of URML's two core primitive families together ("go to the kitchen and pick up the mug" = move_to + grasp). Distinct from the manipulation-algorithm wave (Move #27) and the warehouse-AMR wave (Move #21). Civilian/research only. Single-arm mobile manipulators, learned-policy mobile manipulators (wrap a policy in a validated envelope, ties RFC-0417), assistive/service platforms, a dual-arm platform (ties RFC-0010 bimanual), and a vendor arm of a mobile manipulator. All Issue-channel. Surfaces verified 2026-06-07. Drafted; posting awaits authorization (ledger outreach-move35.yaml, bodies posts-move35.md). Excluded: fetch_ros (CC-BY-NC + defunct), Toyota HSR (restricted), TurtleBot4 (base-only), Mobile ALOHA (dormant), mas_domestic_robotics (GPL-3.0), lerobot (ML library, not a platform).

RFC	Kind	Summary	State	Updated
0422	Outreach	Hello Robot Stretch (hello-robot/stretch_ros2) integration; Move #35 anchor; lightweight single-arm in-home/research mobile manipulator — move_to + grasp in one sentence; Apache-2.0; RFC from the maintainers	Draft	2026-06-07
0423	Outreach	PAL TIAGo (pal-robotics/tiago_robot) integration; Move #35; widely-used research mobile manipulator (base + torso + arm); org-anchor, folds tiago_simulation; Apache-2.0; RFC from the maintainers	Draft	2026-06-07
0424	Outreach	TidyBot++ (jimmyyhwu/tidybot2) integration; Move #35; open holonomic mobile manipulator for robot learning (Princeton) — wrap a learned policy in a validated envelope (ties RFC-0417); MIT; RFC from the maintainer	Draft	2026-06-07
0425	Outreach	TurtleBot3 Manipulation (ROBOTIS-GIT/turtlebot3_manipulation) integration; Move #35; TurtleBot3 base + OpenMANIPULATOR — accessible/taught mobile manipulator; Apache-2.0; RFC from the maintainers	Draft	2026-06-07
0426	Outreach	Interbotix LoCoBot (Interbotix/interbotix_ros_rovers) integration; Move #35; Tier B; low-cost open mobile manipulator (base + arm), Trossen Robotics; BSD-3-Clause; RFC from the maintainers	Draft	2026-06-07
0427	Outreach	TidyBot ROS (roahmlab/tidybot_ros) integration; Move #35; Tier B; ROS 2 interface + IL pipeline for TidyBot++ (ROAHM Lab, U Michigan); MIT; RFC from the maintainers	Draft	2026-06-07
0428	Outreach	Care-O-bot (ipa320/cob_robots) integration; Move #35; Tier B; original open service mobile manipulator (omni base + torso + arm + head), Fraunhofer IPA; Apache-2.0; RFC from the maintainers	Draft	2026-06-07
0429	Outreach	PR2 (PR2/pr2_robot) integration; Move #35; Tier B; canonical dual-arm "fetch the mug" mobile manipulator (community-maintained) — exercises RFC-0010 bimanual; BSD; RFC from the community	Draft	2026-06-07
0430	Outreach	Kinova ros2_kortex (Kinovarobotics/ros2_kortex) integration; Move #35; Tier B; ROS 2 driver for the Gen3 arm (manipulation half of the MOVO mobile manipulator); BSD-3-Clause; RFC from the maintainers	Draft	2026-06-07

The industrial / collaborative arm-driver wave (Move #36, RFCs 0431-0439)

URML's industrial-arm vertical: official and community ROS 2 drivers for real industrial / collaborative arms — the integrated-platform altitude for URML's manipulation primitives (pick_from / place_at / grasp, RFC-0013) on factory/cobot hardware. Distinct from the ros2_control framework wave (Move #23) and the manipulation-algorithm wave (Move #27). Civilian/research only. Surfaces verified 2026-06-07. PRC / PRC-adjacent hardware vendors deferred per RFC-0003 (xArm/UFACTORY, myCobot/Elephant, Flexiv, AUBO, JAKA). Drafted; posting awaits authorization (ledger outreach-move36.yaml, bodies posts-move36.md). Excluded: ROS 1-era drivers (ros-industrial/abb, motoman, fanuc), dormant staubli_experimental, Mecademic (Python API only), Kassow/Neura/Hanwha/Comau (no first-party ROS 2). Kinova ros2_kortex covered in Move #35.

RFC	Kind	Summary	State	Updated
0431	Outreach	Universal Robots ROS 2 Driver (UniversalRobots/Universal_Robots_ROS2_Driver) integration; Move #36 anchor; official driver for UR CB3/e-Series cobots, most-deployed open vendor arm driver; BSD-3-Clause; RFC from the maintainers	Draft	2026-06-07
0432	Outreach	Franka ROS 2 (frankarobotics/franka_ros2) integration; Move #36; official ROS 2 for Franka research arms, most-used research manipulator; force-aware; Apache-2.0; RFC from the maintainers	Draft	2026-06-07
0433	Outreach	Yaskawa motoros2 (Yaskawa-Global/motoros2) integration; Move #36; official micro-ROS node for Motoman controllers (major industrial OEM); permissive (REUSE); RFC from the maintainers	Draft	2026-06-07
0434	Outreach	ABB ROS 2 driver (PickNikRobotics/abb_ros2) integration; Move #36; community ROS 2 driver for ABB arms (the live ROS 2 ABB home, maint. PickNik); Apache-2.0; RFC from the maintainers	Draft	2026-06-07
0435	Outreach	KUKA LBR iiwa (lbr-stack/lbr_fri_ros2_stack) integration; Move #36; community ROS 2 stack for torque-sensitive iiwa 7/14 + Med over FRI; force-aware; Apache-2.0; RFC from the maintainers	Draft	2026-06-07
0436	Outreach	Doosan Robotics ROS 2 (doosan-robotics/doosan-robot2) integration; Move #36; Tier B; official ROS 2 for Doosan cobots; BSD-3-Clause; RFC from the maintainers	Draft	2026-06-07
0437	Outreach	Techman Robot (TechmanRobotInc/tmr_ros2) integration; Move #36; Tier B; ROS 2 driver for vision-integrated TM cobots (Taiwan, Omron-affiliated); built-in vision as detect source; no license file (no ask); RFC from the maintainers	Draft	2026-06-07
0438	Outreach	igus iRC_ROS (CommonplaceRobotics/iRC_ROS) integration; Move #36; Tier B; ROS 2 stack for igus Robot Control incl. the low-cost ReBeL cobot; Apache-2.0; RFC from the maintainers	Draft	2026-06-07
0439	Outreach	ROS-Industrial (ros-industrial/kuka_experimental) integration; Move #36; Tier B; standards-community org-anchor — target standard industrial interfaces, not parallel ones; complements RFC-0038; Apache-2.0; RFC from the consortium	Draft	2026-06-07

The medical / surgical research-robotics wave (Move #37, RFCs 0440-0446)

URML's medical vertical, research and simulation scope only — every target is an explicitly research/sim platform (the da Vinci Research Kit, surgical sims, surgical RL benchmarks); none is a clinical device, and URML makes no clinical claim. The validate-before-actuate framing matches these projects' own "not for clinical use" norm. Surgical sim/challenge envs, a research surgical-robot control stack (dual-arm, ties RFC-0010 bimanual), and surgical RL/IL sims (wrap a learned policy in a validated envelope, ties RFC-0417). Surfaces verified 2026-06-07. The JHU LCSR cluster is anchor-and-folded (challenge + dVRK only; cisst/crtk/SurgicAI referenced). SurRoL (CUHK / Hong Kong) deferred per RFC-0003. Drafted; posting awaits authorization (ledger outreach-move37.yaml, bodies posts-move37.md). Excluded: dvrk-ros (archived), clinical products, defense.

RFC	Kind	Summary	State	Updated
0440	Outreach	Surgical Robotics Challenge (surgical-robotics-ai/surgical_robotics_challenge) integration; Move #37 anchor; AMBF/ROS robot-assisted suturing research sim (JHU+WPI), NL-to-subtask audience; research/sim only; custom permissive license; RFC from the maintainers	Draft	2026-06-07
0441	Outreach	AMBF (WPI-AIM/ambf) integration; Move #37; real-time soft-body + haptic surgical research sim (WPI AIM); drive via the AMBF ROS interface; research/sim only; custom permissive license; RFC from the maintainers	Draft	2026-06-07
0442	Outreach	da Vinci Research Kit (jhu-dvrk/sawIntuitiveResearchKit) integration; Move #37; cisst/SAW stack for the canonical open research surgical platform (JHU-LCSR), dual-arm → RFC-0010 bimanual; research only (not for clinical use); JHU academic license; RFC from the maintainers	Draft	2026-06-07
0443	Outreach	ORBIT-Surgical (orbit-surgical/orbit-surgical) integration; Move #37; surgical RL/IL sim on NVIDIA Isaac Lab (U Toronto) — wrap a learned policy in a validated envelope; research/sim only; BSD-3-Clause; RFC from the maintainers	Draft	2026-06-07
0444	Outreach	LapGym / sofa_env (ScheiklP/sofa_env) integration; Move #37; SOFA-based deformable-tissue laparoscopic RL envs (TU Dresden/Heidelberg); research/sim only; MIT; RFC from the maintainers	Draft	2026-06-07
0445	Outreach	SurgicalGym (SamuelSchmidgall/SurgicalGym) integration; Move #37; Tier B; GPU Isaac-Sim surgical RL for da Vinci PSM/ECM + STAR; research/sim only; MIT; RFC from the maintainer	Draft	2026-06-07
0446	Outreach	Raven-II (uw-biorobotics/raven2) integration; Move #37; Tier B; control software for the open-hardware surgical-research robot (UW Biorobotics), dual-arm → RFC-0010; research only; LGPL-3.0 (no ask); RFC from the lab	Draft	2026-06-07

The VLA / robot-learning round-2 wave (Move #38, RFCs 0447-0454)

URML's current-generation (2024-2026) VLA / robot-learning vertical — round two after the early VLA wave (Move #11). On-thesis: URML wraps a learned policy in a typed intent + a validated safety envelope (decide-then-do applied to learning, ties RFC-0417/0424). Open VLA / policy frameworks and robot-learning sims/benchmarks. Cross-checked against Move #11 to avoid re-touch. Surfaces verified 2026-06-07. Already engaged (excluded): openvla (Move #11), octo (Move #11), NVIDIA GR00T (Move #2), diffusion_policy + Gemini Robotics (Move #11); open_x_embodiment held (DeepMind already engaged via Gemini Robotics). Deferred per RFC-0003: SpatialVLA, RoboVLMs, TinyVLA (PRC labs). Drafted; posting awaits authorization (ledger outreach-move38.yaml, bodies posts-move38.md). Excluded dormant: home-robot, crossformer, susie, embodied-clip.

RFC	Kind	Summary	State	Updated
0447	Outreach	LeRobot (huggingface/lerobot) integration; Move #38 anchor; most-starred open robot-learning hub (incl. SmolVLA) — wrap a learned policy in a validated envelope; distinct from smolagents (Move #11); Apache-2.0; RFC from the maintainers	Draft	2026-06-07
0448	Outreach	openpi (Physical-Intelligence/openpi) integration; Move #38; open release of the π0 flow-based VLA — SOTA open generalist policy; Apache-2.0; RFC from the maintainers	Draft	2026-06-07
0449	Outreach	ManiSkill (mani-skill/ManiSkill) integration; Move #38; GPU-parallel manipulation sim + benchmark (UC San Diego/Hillbot); evaluate validated dispatch at scale; Apache-2.0; RFC from the maintainers	Draft	2026-06-07
0450	Outreach	LIBERO (Lifelong-Robot-Learning/LIBERO) integration; Move #38; lifelong robot-learning benchmark + standard VLA eval (UT Austin); MIT; RFC from the maintainers	Draft	2026-06-07
0451	Outreach	OpenVLA-OFT (moojink/openvla-oft) integration; Move #38; optimized OpenVLA fine-tuning (Stanford) — distinct from the base OpenVLA repo (Move #11); MIT; RFC from the maintainer	Draft	2026-06-07
0452	Outreach	RoboCasa (robocasa/robocasa) integration; Move #38; Tier B; large-scale everyday-task sim for generalist robots (UT Austin/NVIDIA); MIT; RFC from the maintainers	Draft	2026-06-07
0453	Outreach	BEHAVIOR-1K (StanfordVL/BEHAVIOR-1K) integration; Move #38; Tier B; 1000-activity embodied-AI benchmark (Stanford Vision Lab) — activity/predicate defs vs URML typed intent; project-specific license (no ask); RFC from the maintainers	Draft	2026-06-07
0454	Outreach	DROID policy learning (droid-dataset/droid_policy_learning) integration; Move #38; Tier B; policy-learning + eval for the DROID in-the-wild dataset (Stanford/Berkeley+); MIT; RFC from the maintainers	Draft	2026-06-07

The robot-description / interop-formats wave (Move #39, RFCs 0455-0462)

URML's description-interop vertical: the communities behind robot-description formats (URDF, SDFormat) and the kinematics/parsing libraries that consume them. Fresh on-thesis angle — URML's capability manifest sits alongside a robot's description and could derive/cross-check fields from it (reach, DOF, joint limits) while declaring what description omits (payload, graspable classes, safety envelope); the ask is where the description/capability boundary should sit. Surfaces verified 2026-06-07. Cross-checked vs ledgers; already-engaged excluded (Drake/mujoco Move #2, pinocchio Move #26 wontfix, robotics-toolbox Move #6, placo Move #27 engaged, gz-sim, K-Scale Move #29). Drafted; posting awaits authorization (ledger outreach-move39.yaml, bodies posts-move39.md). Excluded: bullet3 (Issues disabled), urdfpy (unmaintained → urchin), OpenUSD (CLA/graphics-first; ASF usd-wg better venue), trimesh (off-altitude).

RFC	Kind	Summary	State	Updated
0455	Outreach	robot_descriptions.py (robot-descriptions/robot_descriptions.py) integration; Move #39 anchor; imports 185+ open robot descriptions (URDF/MJCF/USD) as Python modules — cross-format aggregator, ideal manifest-derivation vantage; Apache-2.0; RFC from the maintainers	Draft	2026-06-07
0456	Outreach	SDFormat (gazebosim/sdformat) integration; Move #39; parser + spec for the SDFormat XML description format (Open Robotics); description/capability boundary; Apache-2.0; RFC from the maintainers	Draft	2026-06-07
0457	Outreach	URDF tooling (ros/urdfdom) integration; Move #39; core URDF parser (anchor-folds urdfdom_headers/xacro/robot_state_publisher); most-used robot-description format; BSD-3-Clause; RFC from the maintainers	Draft	2026-06-07
0458	Outreach	iDynTree (gbionics/idyntree) integration; Move #39; floating-base multibody kinematics/dynamics from URDF+SDF (IIT) — which manifest fields derive from a dynamics model; ties RFC-0010/0384; BSD-3-Clause; RFC from the maintainers	Draft	2026-06-07
0459	Outreach	urdf-loaders (gkjohnson/urdf-loaders) integration; Move #39; URDF loaders for THREE.js/Unity (NASA JPL) — visualize declared capabilities + safety envelope over a rendered URDF; Apache-2.0; RFC from the maintainers	Draft	2026-06-07
0460	Outreach	yourdfpy (clemense/yourdfpy) integration; Move #39; Tier B; clean Python URDF parser/viz — natural building block for a description→manifest adapter; MIT; RFC from the maintainer	Draft	2026-06-07
0461	Outreach	Orocos KDL (orocos/orocos_kinematics_dynamics) integration; Move #39; Tier B; classic ROS kinematics/dynamics library — cross-check manifest workspace vs KDL-computed reach; LGPL-2.1 (no ask); RFC from the maintainers	Draft	2026-06-07
0462	Outreach	urchin (fishbotics/urchin) integration; Move #39; Tier B; actively-maintained urdfpy successor (Python URDF + FK) — description→manifest adapter building block; MIT; RFC from the maintainer	Draft	2026-06-07

The developer-tooling / observability wave (Move #40, RFCs 0463-0468)

URML's observability vertical, at a distinct altitude: URML is not a substrate here, it is a data source. Every URML dispatch is validated before it actuates and emits a structured audit record (intent → validator verdict + failing pass → substrate calls); the ask is whether each tool would ingest / visualize / record that validated-intent stream as a first-class source (the same shape as the engaged Open MCT thread, RFC-0395). Viz platforms, time-series plotting, the on-disk logging format, and in-RViz spatial markers. Surfaces verified 2026-06-12. Deferred (likely inside the ROS-2-core footprint, RFC-0200): rosbag2, rviz, rqt, ros2cli, ros2_tracing. Excluded: archived foxglove/studio, dead webviz/streetscape.gl, GPL evo, AGPL plotjuggler-ros-plugins. Drafted; posting awaits authorization (ledger outreach-move40.yaml, bodies posts-move40.md).

RFC	Kind	Summary	State	Updated
0463	Outreach	Lichtblick (lichtblick-suite/lichtblick) integration; Move #40 anchor; BMW-led open Foxglove-Studio fork — URML's validated-intent audit stream as a data-source panel; MPL-2.0; RFC from the maintainers	Draft	2026-06-12
0464	Outreach	Rerun (rerun-io/rerun) integration; Move #40; multimodal-timeline viz — log the validated-intent audit stream as Rerun entities; Apache-2.0 + MIT; RFC from the maintainers	Draft	2026-06-12
0465	Outreach	PlotJuggler (PlotJuggler/PlotJuggler) integration; Move #40; fast time-series viz — plot verdict + envelope-margin series (commanded vs declared limit); MPL-2.0; RFC from the maintainer	Draft	2026-06-12
0466	Outreach	MCAP (foxglove/mcap) integration; Move #40; serialization-agnostic logging container — record the audit trail as a dedicated MCAP channel (schema = URML's exported JSON Schema); foxglove org-anchor (refs foxglove-sdk); MIT; RFC from the maintainers	Draft	2026-06-12
0467	Outreach	rosboard (dheera/rosboard) integration; Move #40; no-install web ROS dashboard — a glanceable validated-intent tile (intent/verdict/dispatch); BSD-3-Clause; RFC from the maintainer	Draft	2026-06-12
0468	Outreach	rviz_visual_tools (PickNikRobotics/rviz_visual_tools) integration; Move #40; Tier B; RViz marker helper — draw validated intent target/envelope (pose, workspace, geofence, trajectory), refused intent in red; BSD-3-Clause; RFC from the maintainers	Draft	2026-06-12

Engagement-surfaced spec extensions

The fieldbus-substrate thread from the ethercat_driver_ros2 maintainer (RFC-0320, yguel) surfaced three manifest gaps, each shipped as a Spec RFC: the cyclic-vs-acyclic operation mode (0469), the substrate clock / time-synchronization regime (0477), and ordered bring-up / recovery sequences (0478).

RFC	Kind	Summary	State	Updated
0469	Spec	Optional acyclic sub-block on realtime (RFC-0016): the asynchronous SDO / mailbox regime declared by a timeout_ms + a requires_goal_check (default true), distinct from the cyclic-PDO watchdog; validator enforces one coherence rule (acyclic.timeout_ms >= cyclic_period_ms, capability.acyclic_timeout_shorter_than_cycle); surfaced by the ethercat_driver_ros2 maintainer (RFC-0320, yguel) flagging that PDO vs SDO operation modes change error handling, goal-reached checks, and timeouts completely	Implemented	2026-06-12
0477	Spec	Optional substrate.clock block: the time-synchronization regime (reference bus / master_synced + sync_protocol + hardware_timestamping + user_clock_max_offset_ms); complements per-sensor time_sync_methods (RFC-0039); validator enforces two coherence rules (capability.clock_sync_protocol_required, capability.clock_offset_not_applicable); surfaced by yguel (RFC-0320) noting the bus clock cannot be hidden once events outside the bus must be synchronized	Implemented	2026-06-12
0478	Spec	Optional substrate.bringup block: ordered bus-element dependencies (depends_on for bring-up, recovery_after for error recovery); validator enforces unique ids, declared dependencies, and acyclic graphs (capability.bringup_duplicate_element / _dependency_undeclared / _dependency_cycle); surfaced by yguel (RFC-0320) naming ordered init / recovery sequences as the most under-specified area	Implemented	2026-06-12
0518	Spec	Optional base-level mobility bounds for a velocity-controlled base (max_angular_velocity, max_linear_acceleration, max_angular_acceleration, max_traversable_slope_deg, max_obstacle_height_m); the right altitude when a platform is exposed as a base and its whole-body internals are not (contrast RFC-0384); one coherence rule (terrain bounds not applicable to aerial drives, capability.terrain_bound_not_applicable) + a worked intermediary URML→Twist node example; surfaced by the quadruped_ros2_control maintainer (legubiao)	Implemented	2026-06-13
0615	Spec	Optional world-model declarations: declared_areas (named rooms/zones a primitive may target by name, _location_declared extended) + perception.object_detection (which declared sensor detects which declared object class); three coherence rules (capability.area_frame_undeclared / _detector_unknown_object_class / _detector_unknown_sensor) + a worked example; declaration-only (the finite set the robot is configured for, not a world model or detection); surfaced by the linorobot2 / Dallas PRG review ("how to define objects, rooms... how objects are detected")	Implemented	2026-06-15
0616	Spec	Optional Program.declared_intent (RFC-0015 programs): a best-effort, attested declaration of the primitives an opaque call_program body exercises (primitives + attestation asserted/verified + optional max_force_n), validated as a claim against the manifest (capability.declared_intent_primitive_unknown / _unsupported + a best-effort _asserted warning); no new primitive; the honest answer to "you can't statically validate a Turing-complete plan" — surfaced by the bluesky maintainers (RFC-0590, halting-problem objection)	Implemented	2026-06-15
0617	Spec	Multiple named, per-domain learned policies: optional learned_policies list extending RFC-0383 (each a LearnedPolicy + unique name + governs domain), validated independently and scoped by the command quantities it declares so a locomotion policy and a manipulation policy do not interfere; governs-coherence check (capability.learned_policy_governs_unsupported); the single learned_policy is unchanged (back-compatible); surfaced by the RL-framework engagements (rl_games / rsl_rl / legged_gym, Move #29)	Implemented	2026-06-15

The behavior-tree / FSM / orchestration wave (Move #41, RFCs 0470-0476)

URML's Layer-3 vertical: behavior-tree, finite-state-machine, and task-orchestration engines. URML's composition (sequence/parallel/branch/retry over typed, validated primitives) is conceptually peer to these, so the ask is interop — either a validated URML program lowers to a BT/FSM the engine executes, or a BT/FSM leaf/state/skill dispatches one validated URML primitive (validate-before-actuate per node). The engine is control flow; URML is the typed, capability-checked intent it carries. Surfaces verified 2026-06-12. (Numbered 0470-0476: 0469 was taken by a parallel-session Spec RFC.) Deferred: YASMIN (GPL-3.0, copyleft complicates interop). Excluded / avoided: PlanSys2 (engaged Move #26), Nav2/nav2_behavior_tree (Macenski — 2× hostile close), Groot2 (closed), dormant executive_smach, non-robotics JS BT libs. Drafted; posting awaits authorization (ledger outreach-move41.yaml, bodies posts-move41.md).

RFC	Kind	Summary	State	Updated
0470	Outreach	BehaviorTree.CPP (BehaviorTree/BehaviorTree.CPP) integration; Move #41 anchor; the dominant C++ behavior-tree library (Nav2 runs on it) — URML lowers to a tree, or a leaf dispatches a validated primitive; org-anchor (refs BehaviorTree.ROS2); MIT; RFC from the maintainers	Draft	2026-06-12
0471	Outreach	py_trees (splintered-reality/py_trees) integration; Move #41; leading Python behavior-tree library (idiomatic Python adapter); org-anchor (refs py_trees_ros); BSD-3-Clause; RFC from the maintainer	Draft	2026-06-12
0472	Outreach	SMACC2 (robosoft-ai/SMACC2) integration; Move #41; event-driven async ROS 2 state-machine library — URML lowers to states/transitions or a client-behavior dispatches a primitive; Apache-2.0; RFC from the maintainers	Draft	2026-06-12
0473	Outreach	transitions (pytransitions/transitions) integration; Move #41; Tier B; canonical Python FSM (cross-domain) — lower a validated URML program to a transitions HSM; MIT; RFC from the maintainers	Draft	2026-06-12
0474	Outreach	FlexBE (FlexBE/flexbe_behavior_engine) integration; Move #41; Tier B; operator-in-the-loop hierarchical FSM — validate-before-actuate complements human supervision (verdict in the operator UI); BSD; RFC from the maintainers	Draft	2026-06-12
0475	Outreach	SkiROS2 (RVMI/skiros2) integration; Move #41; Tier B; skill-based ROS 2 platform — closest peer to URML's typed-primitive posture (skill params + pre/post-conditions ~ primitive + capability/envelope precondition); BSD-style; RFC from the lab	Draft	2026-06-12
0476	Outreach	ROSPlan (KCL-Planning/ROSPlan) integration; Move #41; Tier B; PDDL task planner (KCL) — ROSPlan plans, URML validates + dispatches each action; primitive precondition ↔ PDDL action precondition; distinct lineage from PlanSys2; BSD-2-Clause; RFC from the maintainers	Draft	2026-06-12

The teleoperation / data-collection wave (Move #42, RFCs 0479-0484)

URML's teleop / imitation-learning-data vertical — the rigs people use to teleoperate robots and collect demonstrations (pairs with the VLA/learning waves, Moves #11/#38: teleop is how that data is collected). Two non-competing seams: a validated shared-autonomy handoff the rig hands off to (operator commands a high-level intent → URML validates capability + envelope → dispatch; teleop corrects), and a typed schema for the demonstrated intent recorded with the trajectory (a demo labelled with the URML primitive it realizes = structured, manifest-checkable supervision). Surfaces verified 2026-06-12; numbered 0479-0484 (0477/0478 taken by parallel Spec RFCs). Deferred: Unitree XR (PRC), BunnyVisionPro (possible HKU). Excluded: dormant ALOHA/Mobile-ALOHA, engaged Interbotix, ARISE-Initiative robosuite/deoxys, LGPL frankx/franky, no-license telemoma/droid. Drafted; posting awaits authorization (ledger outreach-move42.yaml, bodies posts-move42.md).

RFC	Kind	Summary	State	Updated
0479	Outreach	GELLO (wuphilipp/gello_software) integration; Move #42 anchor; low-cost leader-arm teleop / demo-collection rig — validated shared-autonomy handoff + typed-intent annotation; MIT; RFC from the maintainer	Draft	2026-06-12
0480	Outreach	oculus_reader (rail-berkeley/oculus_reader) integration; Move #42; Quest VR input front-end — map a controller action to a validated URML intent; Apache-2.0; RFC from the maintainers	Draft	2026-06-12
0481	Outreach	dex-retargeting (dexsuite/dex-retargeting) integration; Move #42; AnyTeleop hand-retargeting layer — wrap a retargeted grasp in a capability/envelope check; ties LEAP/Shadow dexterous-manifest questions; MIT; RFC from the maintainers	Draft	2026-06-12
0482	Outreach	Open-TeleVision (OpenTeleVision/TeleVision) integration; Move #42; immersive VR bimanual/humanoid teleop — validated handoff + typed bimanual demo annotation (ties RFC-0010); Apache-2.0; RFC from the maintainers	Draft	2026-06-12
0483	Outreach	UMI (real-stanford/universal_manipulation_interface) integration; Move #42; handheld in-the-wild data collection — typed manifest-checkable demo labels + deploy-time envelope; same lab as engaged diffusion_policy (ack); MIT; RFC from the maintainers	Draft	2026-06-12
0484	Outreach	DexCap (j96w/DexCap) integration; Move #42; Tier B; portable hand-mocap data collection — typed demo labels + deploy-time envelope, dexterous-hand manifest; MIT; RFC from the maintainer	Draft	2026-06-12
0485	Outreach	Stable-Baselines3 (DLR-RM/stable-baselines3) integration; Move #43 anchor; RL/policy-training wave — a trained policy's obs/action spaces + training-domain bounds as a URML LearnedPolicy deployment envelope (RFC-0383), plus the decide-then-do gate; MIT; RFC from the maintainers	Draft	2026-06-12
0486	Outreach	CleanRL (vwxyzjn/cleanrl) integration; Move #43; single-file RL = ideal worked example for emitting a LearnedPolicy envelope next to a trained policy; MIT; RFC from the maintainers	Draft	2026-06-12
0487	Outreach	skrl (Toni-SM/skrl) integration; Move #43; sim2real focus (Isaac Lab) — the simulated training domain as a typed deployment envelope; MIT; RFC from the maintainers	Draft	2026-06-12
0488	Outreach	TorchRL (pytorch/rl) integration; Move #43; primitive-first — TensorSpec obs/action specs map to a LearnedPolicy envelope; MIT; RFC from the maintainers	Draft	2026-06-12
0489	Outreach	MushroomRL (MushroomRL/mushroom-rl) integration; Move #43; clean MDPInfo spaces → a LearnedPolicy deployment envelope; MIT; RFC from the maintainers	Draft	2026-06-12
0490	Outreach	Ray RLlib (ray-project/ray) integration; Move #43; narrow RLlib framing — policy spaces → envelope + validated-deployment gate (not Ray core); Apache-2.0; RFC from the maintainers	Draft	2026-06-12
0491	Outreach	OpenArm (enactic/openarm) integration; Move #44 anchor (open robot-platforms wave); bimanual/single-arm manifest → RFC-0010 manipulation.arms + bimanual; validated-intent gate above the SDK; Apache-2.0; RFC from the maintainers	Draft	2026-06-13
0492	Outreach	Upkie (upkie/upkie) integration; Move #44; wheeled-biped balancer → mobility + whole_body balance envelope (RFC-0384); validated intent above the balancing controller; Apache-2.0; RFC from the maintainers	Draft	2026-06-13
0493	Outreach	linorobot2 (linorobot/linorobot2) integration; Move #44; build-your-own mobile base → English move_to front door above ROS 2 nav; Apache-2.0; RFC from the maintainers	Draft	2026-06-13
0494	Outreach	BotBrain (botbotrobotics/BotBrain) integration; Move #44; legged-robot brain runtime → validated-intent layer above its nav/teleop; legged drive_type + whole_body; MIT; RFC from the maintainers	Draft	2026-06-13
0495	Outreach	Source Robotics (PAROL6 / Faze4) integration; Move #44 org-anchor (folds both open desktop arms); reach/payload manifest → pick_from/place_at/grasp (RFC-0013); no code reuse (GPL/CERN-OHL); RFC from the maintainers	Draft	2026-06-13
0496	Outreach	The BiMo Project (mekion/the-bimo-project) integration; Move #44; open biped → whole_body (RFC-0384) validated intent + Isaac Lab sim2real LearnedPolicy envelope (RFC-0383); Apache-2.0; RFC from the maintainers	Draft	2026-06-13
0497	Outreach	Zeroth Bot (zeroth-robotics/zeroth-bot) integration; Move #44; low-cost 3D-printed humanoid → whole_body validated intent + RL/sim2real LearnedPolicy envelope; MIT; RFC from the maintainers	Draft	2026-06-13
0498	Outreach	quadruped_ros2_control (legubiao/quadruped_ros2_control) integration; Move #44; quadruped on ros2_control → legged drive_type + whole_body; concrete instance of the RFC-0319 ros2_control HAL seam; Apache-2.0; RFC from the maintainer	Draft	2026-06-13
0499	Outreach	hexapod-robot-simulator (mithi/hexapod-robot-simulator) integration; Move #44, Tier B; six-leg kinematics → whole_body structure (RFC-0384) + typed gait/pose intent; sim + hexapod-irl real-hw path; MIT; RFC from the maintainer	Draft	2026-06-13
0500	Outreach	magician_ros2 (jkaniuka/magician_ros2, Dobot Magician) integration; Move #44, Tier B, educational tier; reach/payload manifest → English pick_from/place_at front door above ROS 2 (RFC-0011); MIT; RFC from the maintainer	Draft	2026-06-13
0501	Outreach	Robot Raconteur (robotraconteur/robotraconteur) integration; Move #45 anchor (middleware/control/drivers wave); URML validates intent, dispatches over RR as transport; advertised members → manifest; Apache-2.0; RFC from the maintainers	Draft	2026-06-13
0502	Outreach	mc_rtc (jrl-umi3218/mc_rtc) integration; Move #45; real-time whole-body QP/FSM controller URML hands a validated whole_body goal to (RFC-0384/0010); BSD-2; RFC from the maintainers	Draft	2026-06-13
0503	Outreach	bipedal-locomotion-framework (gbionics/bipedal-locomotion-framework, ex ami-iit) integration; Move #45; humanoid MPC/WBC consuming a validated whole_body locomotion goal (RFC-0384); BSD-3; RFC from the maintainers	Draft	2026-06-13
0504	Outreach	Humanoid Path Planner (humanoid-path-planner/hpp-core) integration; Move #45, Tier B; URML declares goal+constraints, validates, consumes the trajectory (RFC-0020; Move #26 framing); LAAS soft-overlap; BSD-2; RFC from the maintainers	Draft	2026-06-13
0505	Outreach	ros2_ros_bt_py (fzi-forschungszentrum-informatik/ros2_ros_bt_py) integration; Move #45; Layer-3 BT interop peer (lower-to-tree or leaf-dispatches-a-validated-primitive; Move #41 framing); BSD-3; RFC from the maintainers	Draft	2026-06-13
0506	Outreach	libcyphal (OpenCyphal-Garage/libcyphal) integration; Move #45; Cyphal transport beneath Layer-1 (validated actuation rides the bus; DSDL types → manifest); asks the protocol-vs-integrator altitude; MIT; RFC from the maintainers	Draft	2026-06-13
0507	Outreach	KickCAT (leducp/KickCAT) integration; Move #45, Tier B; open EtherCAT master beneath the Layer-1 HAL (RFC-0319 one layer lower); asks the fieldbus-vs-integrator altitude; CeCILL-C (no code reuse); RFC from the maintainer	Draft	2026-06-13
0508	Outreach	Husarion UGV (husarion/husarion_ugv_ros) integration; Move #45; Panther/Lynx driver stack → English move_to front door + a HusarionAdapter; Apache-2.0; RFC from the maintainers	Draft	2026-06-13
0509	Outreach	FCL (flexible-collision-library/fcl) integration; Move #45, completes the wave; the geometric collision/clearance query URML's safety envelope declares against (RFC-0291) — "URML declares clearances, FCL checks them"; asks the collision-lib-vs-planner altitude; BSD-3; RFC from the maintainers	Draft	2026-06-13
0510	Outreach	RoboHive (vikashplus/robohive) integration; Move #46 anchor (AI / robot-learning wave); unified learning framework → envelope export (RFC-0383 LearnedPolicy) + validated-deployment gate; Apache-2.0; RFC from the maintainers	Draft	2026-06-13
0511	Outreach	SimplerEnv (simpler-env/SimplerEnv) integration; Move #46; eval harness → a policy's eval setup (embodiment + spaces + task dist) as a deployment envelope; MIT; RFC from the maintainers	Draft	2026-06-13
0512	Outreach	CALVIN (mees/calvin) integration; Move #46; language-conditioned long-horizon manipulation = URML's headline NL→typed-intent seam + learned-task envelope; MIT; RFC from the maintainers	Draft	2026-06-13
0513	Outreach	RoboEval (Robo-Eval/RoboEval) integration; Move #46, Tier B; per-skill bimanual diagnostics → declared capabilities (manipulation.arms + bimanual, RFC-0010) + LearnedPolicy envelope; Apache-2.0; RFC from the maintainers	Draft	2026-06-13
0514	Outreach	robo-gym (jr-robotics/robo-gym) integration; Move #46; distributed RL on real+sim robots (UR/MiR) → env-to-envelope + sim-to-real validated-deployment gate; MIT; RFC from the maintainers	Draft	2026-06-13
0515	Outreach	Roboflow Inference (roboflow/inference) integration; Move #46; edge CV inference → the perception-to-action handoff URML gates; Apache-2.0 core; RFC from the maintainers	Draft	2026-06-13
0516	Outreach	ExecuTorch (pytorch/executorch) integration; Move #46; on-device PyTorch inference runtime → URML validates the action above it; LearnedPolicy envelope travels with the on-device model; BSD; RFC from the maintainers	Draft	2026-06-13
0517	Outreach	openrlbenchmark (openrlbenchmark/openrlbenchmark) integration; Move #46, Tier B, completes the wave; tracked RL run metadata → a deployment envelope; shared "policy defined by its declared setup" discipline; MIT; RFC from the maintainers	Draft	2026-06-13
0518	Outreach	Nerfstudio (nerfstudio-project/nerfstudio + gsplat) integration; Move #47 anchor (perception/SLAM/mapping wave); a NeRF/splat reconstruction as the declared map URML consumes (frames RFC-0290 + geofence/occupancy RFC-0291); org-fold; Apache-2.0; RFC from the maintainers	Draft	2026-06-13
0519	Outreach	COLMAP (colmap/colmap) integration; Move #47; SfM/MVS poses + reconstruction as declared geometry URML consumes; BSD; RFC from the maintainers	Draft	2026-06-13
0520	Outreach	Open3D (isl-org/Open3D) integration; Move #47; 3D point-cloud/mesh products feed the declared world URML validates against; MIT-style; RFC from the maintainers	Draft	2026-06-13
0521	Outreach	PCL (PointCloudLibrary/pcl) integration; Move #47; processed point clouds → the occupancy URML validates against; BSD; RFC from the maintainers	Draft	2026-06-13
0522	Outreach	PDAL (PDAL/PDAL) integration; Move #47, Tier B; ingested/tiled site point data as a robot's declared prior map; BSD; RFC from the maintainers	Draft	2026-06-13
0523	Outreach	OpenVDB (AcademySoftwareFoundation/openvdb) integration; Move #47; a sparse-volume grid as a robot's declared occupancy (RFC-0291); ASF/Linux Foundation; Apache-2.0; RFC from the maintainers	Draft	2026-06-13
0524	Outreach	MOLA (MOLAorg/mola) integration; Move #47; LiDAR-inertial SLAM pose+map URML consumes ("URML consumes your estimate"); GPL-3.0 core (no code reuse); RFC from the maintainers	Draft	2026-06-13
0525	Outreach	MRPT (MRPT/mrpt) integration; Move #47; localization + occupancy maps URML consumes; BSD-3; RFC from the maintainers	Draft	2026-06-13
0526	Outreach	SymForce (symforce-org/symforce) integration; Move #47; factor-graph/optimization engine — URML consumes the estimate it produces; asks the optimization-lib-vs-estimator altitude; Apache-2.0; RFC from the maintainers	Draft	2026-06-13
0527	Outreach	Patchwork++ (url-kaist/patchwork-plusplus) integration; Move #47, Tier B; LiDAR ground segmentation feeding the occupancy URML validates against; asks the segmentation-vs-mapping altitude; BSD-2; RFC from the maintainers	Draft	2026-06-13
0528	Outreach	OKVIS2 (ethz-mrl/okvis2) integration; Move #47, Tier B, completes the wave; visual-inertial SLAM pose URML consumes (RFC-0290); BSD-3; RFC from the maintainers	Draft	2026-06-13
0529	Outreach	OSGAR (robotika/osgar) integration; Move #48 anchor (domain/standards wave); heterogeneous SubT fleet → URML fleet roster (RFC-0286) + deconfliction (RFC-0291); MIT; RFC from the maintainers	Draft	2026-06-13
0530	Outreach	MOOS-IvP (moos-ivp/moos-ivp) integration; Move #48; marine IvP-Helm behavior arbitration — conceptual peer (URML intent above the helm); RFC from the maintainers	Draft	2026-06-13
0531	Outreach	Project 11 (CCOMJHC/project11) integration; Move #48, Tier B; ASV backseat-driver mission framework → URML mission spec above the mission manager; BSD-2; RFC from the maintainers	Draft	2026-06-13
0532	Outreach	bsk_rl (AVSLab/bsk_rl) integration; Move #48; spacecraft RL planning/scheduling → task intent + LearnedPolicy envelope (RFC-0383); MIT; RFC from the maintainers	Draft	2026-06-13
0533	Outreach	PX4-Space-Systems (DISCOWER/PX4-Space-Systems) integration; Move #48, Tier B; PX4 free-flyer fork → reuses URML's PX4 substrate mapping; BSD-3; RFC from the maintainers	Draft	2026-06-13
0534	Outreach	Feldfreund (zauberzeug/feldfreund_devkit_ros) integration; Move #48, Tier B; autonomous weeding → English field-task front door; MIT; RFC from the maintainers	Draft	2026-06-13
0535	Outreach	OpenExo (naubiomech/OpenExo) integration; Move #48; open exoskeleton (MCU substrate) → envelope-bounded assistance declaration; research scope, no clinical claim; RFC from the maintainers	Draft	2026-06-13
0536	Outreach	CleanIt (Sollimann/CleanIt) integration; Move #48, Tier B; Rust vacuum autonomy → service-robot English front door; MIT; RFC from the maintainer	Draft	2026-06-13
0537	Outreach	Roomi (jadechoghari/roomi) integration; Move #48, Tier B; cleaning robot, mobile base + dual arms → mobile manipulation + bimanual (RFC-0010); Apache-2.0; RFC from the maintainer	Draft	2026-06-13
0538	Outreach	OpenAMR (openAMRobot/openamr) integration; Move #48, Tier B; SME intralogistics AMR (+ Open-RMF) → warehouse profile (RFC-0022) + fleet validation; MIT; RFC from the maintainers	Draft	2026-06-13
0539	Outreach	AIPlan4EU Unified Planning (aiplan4eu/unified-planning) integration; Move #48; closest conceptual language peer — URML intent ↔ planning problem; Apache-2.0; RFC from the maintainers	Draft	2026-06-13
0540	Outreach	MTConnect (mtconnect/cppagent) integration; Move #48; manufacturing-interop standards body — equipment state a robot intent conditions on (complements OPC UA); Apache-2.0; RFC from the maintainers	Draft	2026-06-13
0541	Outreach	AutoAPMS (AutoAPMS/auto-apms) integration; Move #48, completes the wave + the candidate slate; BT/skill DSL → Layer-3 interop peer (Move #41 framing); Apache-2.0; RFC from the maintainers	Draft	2026-06-13
0542	Outreach	Buzz (buzz-lang/Buzz) integration; Move #49 anchor (swarm/multi-robot/alt-framework wave); swarm programming language peer — Buzz coordinates the swarm, URML validates the per-robot intent; no manifest ask; MIT; RFC from the maintainers	Draft	2026-06-13
0543	Outreach	ScaFi (scafi/scafi) integration; Move #49; Scala aggregate-computing language peer — aggregate behavior + per-device validated intent; Apache-2.0; RFC from the maintainers	Draft	2026-06-13
0544	Outreach	Protelis (Protelis/Protelis) integration; Move #49; field-calculus aggregate language peer (cross-citation only); GPL-3.0; RFC from the maintainers	Draft	2026-06-13
0545	Outreach	SCRIMMAGE (gtri/scrimmage) integration; Move #49; multi-agent simulator → scenario maps onto URML fleet roster + deconfliction (RFC-0286/0291); LGPL-3.0; RFC from the maintainers	Draft	2026-06-13
0546	Outreach	LSTS toolchain (LSTS/dune + LSTS/neptus, folded) integration; Move #49; non-ROS UV stack → DUNE substrate + Neptus fleet C2 (RFC-0286/0291); EUPL-1.1 non-commercial, no code reuse; RFC from the maintainers	Draft	2026-06-13
0547	Outreach	OpenRTM-aist (OpenRTM/OpenRTM-aist) integration; Move #49; OMG RTC middleware → alternate non-ROS substrate, RTC ports toward a manifest; LGPL-2.1; RFC from the maintainers	Draft	2026-06-13
0548	Outreach	RoboComp (robocomp/robocomp) integration; Move #49, completes the wave; component framework → alternate non-ROS substrate (cross-citation only); GPL-3.0; RFC from the maintainers	Draft	2026-06-13
0549	Outreach	ROSGPT (aniskoubaa/rosgpt) integration; Move #50 anchor (HRI/conversational/robot-data wave); canonical NL→ROS LLM bridge → conceptual peer + URML the typed five-pass validation gate; no license file; RFC from the maintainers	Draft	2026-06-13
0550	Outreach	DialoStack (aquintan4/DialoStack) integration; Move #50; LLM dialogue→ROS2 → URML the validated intent target of the dialogue layer; MIT; RFC from the maintainers	Draft	2026-06-13
0551	Outreach	retico-core (retico-team/retico-core) integration; Move #50; incremental spoken dialogue → URML the validated commit after intent recognition; Apache-2.0; RFC from the maintainers	Draft	2026-06-13
0552	Outreach	Furhat skills (FurhatRobotics/example-skills) integration; Move #50, Tier B; social-robot SDK → lighter-touch physical-action seam (honest "does a skill drive a physical robot?"); MIT; RFC from the maintainers	Draft	2026-06-13
0553	Outreach	USC-ICT Virtual Human Toolkit (USC-ICT/vhtoolkit) integration; Move #50, Tier B; virtual humans → conceptual peer on embodied-agent intent; research scope, custom USC license, no code reuse; RFC from the maintainers	Draft	2026-06-13
0554	Outreach	ReductStore (reductstore/reductstore) integration; Move #50; robotics time-series store → URML audit trail as a first-class time series (Move #40 framing); Apache-2.0; RFC from the maintainers	Draft	2026-06-13
0555	Outreach	Forge (arpitg1304/forge) integration; Move #50; RLDS/LeRobot/rosbag converter → intent records as a dataset annotation channel; MIT; RFC from the maintainer	Draft	2026-06-13
0556	Outreach	ARES (jacobphillips99/ares) integration; Move #50; robot-episode ingest/annotate → closest intent data peer, structured intent+verdict annotation; Apache-2.0; RFC from the maintainer	Draft	2026-06-13
0557	Outreach	rosbag2_composable_recorder (berndpfrommer/rosbag2_composable_recorder) integration; Move #50, completes the wave; composable rosbag2 recorder → intent record as a companion channel to a bag; Apache-2.0; RFC from the maintainer	Draft	2026-06-13
0558	Outreach	opendbc (commaai/opendbc) integration; Move #51 anchor (AV/ADAS/off-road wave); vehicle CAN actuation → Layer-1 HAL seam, URML the validated-intent layer above the actuation HAL; MIT; RFC from the maintainers	Draft	2026-06-14
0559	Outreach	sunnypilot (sunnypilot/sunnypilot) integration; Move #51; ADAS (openpilot fork) → safety envelope as an operating-design-domain check before a maneuver; MIT; RFC from the maintainers	Draft	2026-06-14
0560	Outreach	F1TENTH (f1tenth/f1tenth_system + f1tenth_gym, folded) integration; Move #51; 1/10 racing platform → declare goal+constraints, validate, consume trajectory (RFC-0020); same intent car+gym; MIT; RFC from the maintainers	Draft	2026-06-14
0561	Outreach	ForzaETH race_stack (ForzaETH/race_stack) integration; Move #51; full racing stack → URML declares+validates, the stack plans+drives (Move #26 framing); MIT; RFC from the maintainers	Draft	2026-06-14
0562	Outreach	NATURE stack (CGoodin/nature-stack) integration; Move #51, Tier B; off-road autonomy → typed off-road ODD, consume the planned path; BSD-3; RFC from the maintainers	Draft	2026-06-14
0563	Outreach	EasyNavigation (EasyNavigation/EasyNavigation) integration; Move #51; Nav2 alternative (not Macenski) → typed front door to navigation (RFC-0020); Apache-2.0; RFC from the maintainers	Draft	2026-06-14
0564	Outreach	AgOpenGPS (AgOpenGPS-Official/AgOpenGPS) integration; Move #51; ag guidance/auto-steer → agriculture vertical, NL field-operation front door + validate against implement; Apache-2.0; RFC from the maintainers	Draft	2026-06-14
0565	Outreach	GEMstack (krishauser/GEMstack) integration; Move #51, completes the wave; educational full-stack AV → typed intent+ODD teaching companion (RFC-0011/0020); MIT; RFC from the maintainer	Draft	2026-06-14
0566	Outreach	FTC Robot Controller (FIRST-Tech-Challenge/FtcRobotController) integration; Move #52 anchor (education/competition wave r2); FTC SDK → typed intent + English layer above an op-mode (RFC-0011); BSD-3-Clear; RFC from the maintainers	Draft	2026-06-14
0567	Outreach	PathPlanner (mjansen4857/pathplanner) integration; Move #52; FRC path planning → declare/validate/consume the path (RFC-0020); MIT; RFC from the maintainer	Draft	2026-06-14
0568	Outreach	PhotonVision (PhotonVision/photonvision) integration; Move #52; FRC/FTC vision → consume the estimate (Move #25, cross-citation); GPL-3.0; RFC from the maintainers	Draft	2026-06-14
0569	Outreach	Choreo (SleipnirGroup/Choreo) integration; Move #52; FRC trajectory optimizer → consume the optimized trajectory (RFC-0020); BSD-3; RFC from the maintainers	Draft	2026-06-14
0570	Outreach	Road Runner (acmerobotics/road-runner) integration; Move #52; FTC motion planning → declare/validate/consume (RFC-0020); MIT; RFC from the maintainers	Draft	2026-06-14
0571	Outreach	KIPR libwallaby (kipr/libwallaby) integration; Move #52, Tier B; Botball control library → typed intent + English layer (cross-citation); GPL-3.0; RFC from the maintainers	Draft	2026-06-14
0572	Outreach	GoPiGo3 (DexterInd/GoPiGo3) integration; Move #52, Tier B; RPi beginner robot → English-to-validated-intent front door; non-standard license, no code reuse; RFC from the maintainers	Draft	2026-06-14
0573	Outreach	RPi Foundation Blockly (RaspberryPiFoundation/blockly) integration; Move #52; VPL language peer — could a block palette emit URML (conceptual, no integration ask); Apache-2.0; RFC from the maintainers	Draft	2026-06-14
0574	Outreach	Robocode Tank Royale (robocode-dev/tank-royale) integration; Move #52, Tier B; programming game → declarative intent as a teaching on-ramp (conceptual); Apache-2.0; RFC from the maintainers	Draft	2026-06-14
0575	Outreach	iRobot Create 3 (iRobotEducation/create3_docs) integration; Move #52, completes the wave; ROS 2 educational robot → English front door over the ROS 2 action set; BSD-3; RFC from the maintainers	Draft	2026-06-14
0576	Outreach	Betaflight (betaflight/betaflight) integration; Move #53 anchor (motor-control/RTOS substrate wave); FC firmware → declare flight intent + bounds, validate, dispatch (clean altitude); GPL-3.0 cross-citation; RFC from the maintainers	Draft	2026-06-14
0577	Outreach	INAV (iNavFlight/inav) integration; Move #53; navigation FC firmware → declared mission intent, geofence-as-envelope (RFC-0020); GPL-3.0 cross-citation; RFC from the maintainers	Draft	2026-06-14
0578	Outreach	FluidNC (bdring/FluidNC) integration; Move #53; ESP32 CNC firmware → job intent + machine-limits envelope; non-standard license, no code reuse; RFC from the maintainers	Draft	2026-06-14
0579	Outreach	Tock OS (tock/tock) integration; Move #53; capability-secure RTOS → capability-model resonance (manifest ↔ OS grants); dual Apache/MIT; RFC from the maintainers	Draft	2026-06-14
0580	Outreach	FreeRTOS (FreeRTOS/FreeRTOS) integration; Move #53; canonical MCU RTOS → honest narrow seam, minimal_node executor as an RTOS task (RFC-0018); MIT; RFC from the maintainers	Draft	2026-06-14
0581	Outreach	Apache NuttX (apache/nuttx) integration; Move #53; POSIX RTOS (the OS under PX4) → minimal_node host, concrete PX4 path (RFC-0018); Apache-2.0; RFC from the maintainers	Draft	2026-06-14
0582	Outreach	RIOT OS (RIOT-OS/RIOT) integration; Move #53, Tier B; IoT RTOS → networked actuator node + fleet roster (RFC-0286/0291); LGPL-2.1 cross-citation; RFC from the maintainers	Draft	2026-06-14
0583	Outreach	Contiki-NG (contiki-ng/contiki-ng) integration; Move #53, Tier B; low-power IoT OS → explicitly thin seam (sensing-first), posted with that stated; BSD-3; RFC from the maintainers	Draft	2026-06-14
0584	Outreach	Embassy (embassy-rs/embassy) integration; Move #53; async embedded Rust → minimal_node Rust executor, type-system alignment (RFC-0018); Apache/MIT; RFC from the maintainers	Draft	2026-06-14
0585	Outreach	RTIC (rtic-rs/rtic) integration; Move #53, completes the wave + the candidate slate; real-time Rust → cyclic-timing resonance (RFC-0016 ↔ RTIC task set); Apache/MIT; RFC from the maintainers	Draft	2026-06-14
0586	Spec	Dexterous (multi-fingered) hand declaration: optional dexterous gripper kind + dexterity block (dof/finger_count/grasp_types) and an optional grasp_type on grasp, validated against the addressed hand (capability.grasp_type_requires_dexterous / _not_declared); no new primitive; threads grasp_type into the manipulation goal + audit; surfaced by the LEAP Hand / Shadow Robot engagement (RFC-0357)	Implemented	2026-06-14
0587	Outreach	PyLabRobot (PyLabRobot/pylabrobot) integration; Move #54 anchor (lab-automation wave); hardware-agnostic liquid-handler SDK → deck/labware model as the lab form of a capability manifest; MIT; RFC from the maintainers	Draft	2026-06-14
0588	Outreach	AD-SDL (AD-SDL/MADSci + AD-SDL/wei, folded) integration; Move #54; workcell orchestration → per-node validated step + workcell-as-roster (RFC-0286); MIT; RFC from the maintainers	Draft	2026-06-14
0589	Outreach	Aquarium (aquariumbio/aquarium) integration; Move #54; lab OS, typed unit-operation protocols → typed-operation peer; MIT; RFC from the maintainers	Draft	2026-06-14
0590	Outreach	Bluesky (bluesky/bluesky, NSLS-II) integration; Move #54; declarative experiment plans + run engine → two declare-then-execute loops, pre-dispatch validation pass; BSD-3; RFC from the maintainers	Draft	2026-06-14
0591	Outreach	AlabOS (CederGroupHub/alabos, LBNL) integration; Move #54; A-Lab task/device orchestration → per-task validated step; MIT; RFC from the maintainers	Draft	2026-06-14
0592	Outreach	PyHamilton (dgretton/pyhamilton) integration; Move #54, Tier B; Hamilton liquid-handler driver → concrete substrate, deck config as manifest; MIT; RFC from the maintainers	Draft	2026-06-14
0593	Outreach	Pycro-Manager (micro-manager/pycro-manager) integration; Move #54; microscope acquisition automation → validated acquisition instruction, scope config as manifest; BSD-3; RFC from the maintainers	Draft	2026-06-14
0594	Outreach	Self-Driving Lab Demo (sparks-baird/self-driving-lab-demo) integration; Move #54, Tier B; SDL teaching framework → make the validated-intent step visible, NL on-ramp (RFC-0011); MIT; RFC from the maintainers	Draft	2026-06-14
0595	Outreach	NIMS-OS (nimsos-dev/nimsos, NIMS Japan) integration; Move #54, completes the wave; autonomous-experiment orchestration → neutral typed action at the file-exchange boundary; no license file; RFC from the maintainers	Draft	2026-06-14
0596	Outreach	aerial-autonomy-stack (JacopoPan/aerial-autonomy-stack) integration; Move #55 anchor (inspection wave); PX4/ROS2 perception drone+swarm → mission intent + envelope, consume trajectory (RFC-0020), swarm as fleet (RFC-0286); MIT; RFC from the maintainers	Draft	2026-06-14
0597	Outreach	UNav-Sim (open-airlab/UNav-Sim) integration; Move #55; underwater pipe-following inspection sim → validated inspection intent + trained-planner envelope (RFC-0383); non-standard license; RFC from the maintainers	Draft	2026-06-14
0598	Outreach	CentraleNantesROV/bluerov2 integration; Move #55, Tier B; ROS 2 BlueROV2 subsea inspection → marine drive type, consume (distinct from touched BlueRobotics); Apache-2.0; RFC from the maintainers	Draft	2026-06-14
0599	Outreach	RoboTerrain (jackvice/RoboTerrain) integration; Move #55, completes the wave, Tier B; ROS2+Gazebo off-road RL (inspection/construction envs) → validated-intent gate over a trained policy (RFC-0383); Apache-2.0; RFC from the maintainer	Draft	2026-06-14
0600	Outreach	Valetudo (Hypfer/Valetudo) integration; Move #56 anchor (service-robotics wave); cloud-free cleaning-robot firmware (local REST+MQTT) → RobotVacuumAdapter, per-model capabilities as manifest; Apache-2.0; RFC from the maintainers	Draft	2026-06-14
0601	Outreach	python-miio (rytilahti/python-miio) integration; Move #56; Xiaomi miIO/MIoT library (incl. vacuums) → concrete dispatch substrate, feature flags toward a manifest (cross-citation); GPL-3.0; RFC from the maintainers	Draft	2026-06-14
0602	Outreach	temi robot SDK (robotemi/sdk) integration; Move #56; hospitality robot SDK → validated movement intent (go-to/patrol), saved locations as manifest; no license file; RFC from the maintainers	Draft	2026-06-14
0603	Outreach	Transitive (transitiverobotics/transitive) integration; Move #56; web robot-fleet management → the validated intent a dashboard dispatches, fleet roster (RFC-0286/0291); Apache-2.0; RFC from the maintainers	Draft	2026-06-14
0604	Outreach	Congatudo (congatudo/Congatudo) integration; Move #56, completes the wave, Tier B; Cecotec Conga cloud-free local control (Valetudo-style) → same cleaning-intent seam, one manifest shape across vendor families; Apache-2.0; RFC from the maintainers	Draft	2026-06-14
0605	Outreach	SOFA SoftRobots (SofaDefrost/SoftRobots) integration; Move #57 anchor (soft-robotics/assistive wave); FEM + inverse control of soft robots → declare goal + envelope, consume the computed actuation (cross-citation); LGPL-3.0; RFC from the maintainers	Draft	2026-06-14
0606	Outreach	PyElastica (GazzolaLab/PyElastica + skim0119/gym-softrobot, folded) integration; Move #57; Cosserat soft sim + RL env → declared control goal, trained policy declares its envelope (RFC-0383); MIT; RFC from the maintainers	Draft	2026-06-14
0607	Outreach	LibEMG (LibEMG/libemg) integration; Move #57; myoelectric-control library → URML consumes a decoded EMG intent, validates the action (research scope, no clinical claim); MIT; RFC from the maintainers	Draft	2026-06-14
0608	Outreach	Bottango (EvanBottango/Bottango) integration; Move #57, Tier B; animatronics tool + REST API → portable typed-intent layer over per-effector control; BSD-3; RFC from the maintainer	Draft	2026-06-14
0609	Outreach	o80 (intelligent-soft-robots/o80, MPI-IS) integration; Move #57, completes the wave, Tier B; real-time PAM (pneumatic-muscle) control → declare goal + envelope, dispatch to the real-time loop; BSD-3; RFC from the maintainers	Draft	2026-06-14
0610	Outreach	embodied-agents (automatika-robotics/embodied-agents + emos, folded) integration; Move #58 anchor (edge-AI wave); ROS2 local LLM/VLM/VLA → URML the validated gate between a model's proposed action and ros2_control/MoveIt Servo; MIT; RFC from the maintainers	Draft	2026-06-15
0611	Outreach	yolo_ros (mgonzs13/yolo_ros) integration; Move #58; maintained ROS2 YOLO → consume detections (Move #25), classes toward object vocabulary (cross-citation); GPL-3.0; RFC from the maintainers	Draft	2026-06-15
0612	Outreach	Kenning (antmicro/kenning) integration; Move #58; edge-AI deploy/optimize w/ ROS2 CV nodes → gate the action, deployed artifact carries an envelope (RFC-0383); Apache-2.0; RFC from the maintainers	Draft	2026-06-15
0613	Outreach	hailo_tappas_ros2 (kyrikakis/hailo_tappas_ros2) integration; Move #58, Tier B; Hailo NPU on-edge inference → consume the estimate, clean separation on a fixed pipeline; Apache-2.0; RFC from the maintainer	Draft	2026-06-15
0614	Outreach	OpenCV Zoo (opencv/opencv_zoo) integration; Move #58, completes the wave + the candidate slate, Tier B; edge model zoo → consume a zoo model's estimate (Move #25, robotics subset only); Apache-2.0; RFC from the maintainers	Draft	2026-06-15

Lifecycle states

Per RFC-0001:

• Draft — Author working on it. Not yet open for review.
• Open — Open for review; the comment window is active.
• Accepted — Approved by the governance body (Phase 0: sole maintainer; Phase 1+: steering committee). Authoritative; implementation may begin.
• Implemented — The RFC's normative changes have landed in the spec and at least the reference implementations required for conformance.
• Rejected — Considered and not adopted. Stays in the directory as historical record; the RFC body documents the reasoning.
• Superseded — Replaced by a later RFC. Header links to the successor.
• Withdrawn — Author withdrew before the decision. Stays as historical record.

State changes are recorded in the RFC's own header, not here; this table reflects the current state at index update.

How to file an RFC

1. Copy 0000-template.md to NNNN-short-kebab-name.md, where NNNN is the next unused number (zero-padded to four digits).
2. Fill in the template. The required sections are non-negotiable; saying "N/A" in one is fine if it's truly N/A and you explain why.
3. Open a PR titled RFC-NNNN: <short title>. The PR is the comment window.
4. The maintainer (Phase 0) or a steering-committee reviewer (Phase 1+) advances the state header.

A Phase 0 RFC may be authored, reviewed, and merged by the same person. The author reviews their own work against the self-review checklist in RFC-0001 §Self-review. The discipline matters: future contributors inherit a real decision trail rather than a folkloric one.