{
  "robotId": "turtlebot3-burger",
  "name": "TurtleBot3 Burger",
  "description": "A compact, affordable, programmable, ROS2-based mobile robot for education and research",
  "platform": "ROS2",
  "version": "2.0.0",
  "pluginApiVersion": "1.0",
  "hriStudioVersion": ">=0.1.0",
  "trustLevel": "official",
  "category": "mobile-robot",

  "manufacturer": {
    "name": "ROBOTIS",
    "website": "https://www.robotis.com/",
    "support": "https://emanual.robotis.com/docs/en/platform/turtlebot3/overview/"
  },

  "documentation": {
    "mainUrl": "https://emanual.robotis.com/docs/en/platform/turtlebot3/overview/",
    "apiReference": "https://emanual.robotis.com/docs/en/platform/turtlebot3/ros2_manipulation/",
    "wikiUrl": "https://wiki.ros.org/turtlebot3",
    "videoUrl": "https://www.youtube.com/watch?v=rVM994ZhsEM"
  },

  "assets": {
    "thumbnailUrl": "assets/turtlebot3-burger/thumb.png",
    "images": {
      "main": "assets/turtlebot3-burger/main.jpg",
      "angles": {
        "front": "assets/turtlebot3-burger/front.png",
        "side": "assets/turtlebot3-burger/side.png",
        "top": "assets/turtlebot3-burger/top.png"
      },
      "logo": "assets/turtlebot3-burger/logo.png"
    },
    "model": {
      "format": "URDF",
      "url": "https://raw.githubusercontent.com/ROBOTIS-GIT/turtlebot3/master/turtlebot3_description/urdf/turtlebot3_burger.urdf"
    }
  },

  "specs": {
    "dimensions": {
      "length": 0.138,
      "width": 0.178,
      "height": 0.192,
      "weight": 1.0
    },
    "capabilities": ["differential_drive", "lidar", "imu", "odometry"],
    "maxSpeed": 0.22,
    "batteryLife": 2.5
  },

  "ros2Config": {
    "namespace": "turtlebot3",
    "nodePrefix": "hri_studio",
    "defaultTopics": {
      "cmd_vel": "/cmd_vel",
      "odom": "/odom",
      "scan": "/scan",
      "imu": "/imu",
      "joint_states": "/joint_states"
    }
  },

  "actions": [
    {
      "id": "move_velocity",
      "name": "Set Velocity",
      "description": "Control the robot's linear and angular velocity",
      "category": "movement",
      "icon": "navigation",
      "timeout": 30000,
      "retryable": true,
      "parameterSchema": {
        "type": "object",
        "properties": {
          "linear": {
            "type": "number",
            "minimum": -0.22,
            "maximum": 0.22,
            "default": 0,
            "description": "Forward/backward velocity in m/s"
          },
          "angular": {
            "type": "number",
            "minimum": -2.84,
            "maximum": 2.84,
            "default": 0,
            "description": "Rotational velocity in rad/s"
          }
        },
        "required": ["linear", "angular"]
      },
      "ros2": {
        "messageType": "geometry_msgs/msg/Twist",
        "topic": "/cmd_vel",
        "payloadMapping": {
          "type": "transform",
          "transformFn": "transformToTwist"
        },
        "qos": {
          "reliability": "reliable",
          "durability": "volatile",
          "history": "keep_last",
          "depth": 1
        }
      }
    },
    {
      "id": "move_to_pose",
      "name": "Move to Position",
      "description": "Navigate to a specific position on the map",
      "category": "movement",
      "icon": "target",
      "timeout": 60000,
      "retryable": true,
      "parameterSchema": {
        "type": "object",
        "properties": {
          "x": {
            "type": "number",
            "default": 0,
            "description": "X coordinate in meters"
          },
          "y": {
            "type": "number",
            "default": 0,
            "description": "Y coordinate in meters"
          },
          "theta": {
            "type": "number",
            "default": 0,
            "description": "Final orientation in radians"
          }
        },
        "required": ["x", "y", "theta"]
      },
      "ros2": {
        "messageType": "geometry_msgs/msg/PoseStamped",
        "action": "/navigate_to_pose",
        "payloadMapping": {
          "type": "transform",
          "transformFn": "transformToPoseStamped"
        }
      }
    },
    {
      "id": "stop_robot",
      "name": "Stop Robot",
      "description": "Immediately stop all robot movement",
      "category": "movement",
      "icon": "square",
      "timeout": 5000,
      "retryable": false,
      "parameterSchema": {
        "type": "object",
        "properties": {},
        "required": []
      },
      "ros2": {
        "messageType": "geometry_msgs/msg/Twist",
        "topic": "/cmd_vel",
        "payloadMapping": {
          "type": "static",
          "payload": {
            "linear": { "x": 0.0, "y": 0.0, "z": 0.0 },
            "angular": { "x": 0.0, "y": 0.0, "z": 0.0 }
          }
        },
        "qos": {
          "reliability": "reliable",
          "durability": "volatile",
          "history": "keep_last",
          "depth": 1
        }
      }
    }
  ]
}
