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Update for new HRIStudio build

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Sean O'Connor
2025-08-07 01:29:00 -04:00
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plugins/README.md Normal file
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# Robot Plugins
This directory contains individual robot plugin definitions for the HRIStudio platform.
## Available Plugins
### Mobile Robots
- **turtlebot3-burger.json** - Compact educational robot platform
- **turtlebot3-waffle.json** - Extended TurtleBot3 with camera and additional sensors
### Humanoid Robots
- **nao-humanoid.json** - NAO humanoid robot for social interaction research
## Plugin Structure
Each plugin file defines:
- Robot specifications and capabilities
- Available actions for experiment design
- Communication protocol configuration
- Asset references for UI display
## Adding New Plugins
1. Create a new JSON file following the schema
2. Add robot assets to the `assets/` directory
3. Update `index.json` to include the new plugin
4. Test the plugin definition for validity
## Schema Validation
All plugins must conform to the HRIStudio plugin schema. See `../docs/schema.md` for complete documentation.
## Asset Requirements
Each plugin should include:
- Thumbnail image (200x150px)
- Main robot image
- Multiple angle views
- Manufacturer logo (optional)
Assets are served relative to the repository root URL.

4
plugins/index.json
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[
"turtlebot3-burger.json"
]
["turtlebot3-burger.json", "turtlebot3-waffle.json", "nao-humanoid.json"]

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plugins/nao-humanoid.json Normal file
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{
"robotId": "nao-humanoid",
"name": "NAO Humanoid Robot",
"description": "Autonomous, programmable humanoid robot designed for education, research, and human-robot interaction studies",
"platform": "NAOqi",
"version": "1.0.0",
"pluginApiVersion": "1.0",
"hriStudioVersion": ">=0.1.0",
"trustLevel": "verified",
"category": "humanoid-robot",
"manufacturer": {
"name": "SoftBank Robotics",
"website": "https://www.softbankrobotics.com/",
"support": "https://developer.softbankrobotics.com/"
},
"documentation": {
"mainUrl": "https://developer.softbankrobotics.com/nao6/nao-documentation",
"apiReference": "https://developer.softbankrobotics.com/nao6/naoqi-developer-guide",
"wikiUrl": "https://en.wikipedia.org/wiki/Nao_(robot)",
"videoUrl": "https://www.youtube.com/watch?v=nNbj2G3GmAg"
},
"assets": {
"thumbnailUrl": "assets/nao-humanoid/thumb.png",
"images": {
"main": "assets/nao-humanoid/main.jpg",
"angles": {
"front": "assets/nao-humanoid/front.png",
"side": "assets/nao-humanoid/side.png",
"back": "assets/nao-humanoid/back.png"
},
"logo": "assets/nao-humanoid/logo.png"
},
"model": {
"format": "URDF",
"url": "https://github.com/ros-naoqi/nao_robot/raw/master/nao_description/urdf/nao.urdf"
}
},
"specs": {
"dimensions": {
"length": 0.275,
"width": 0.311,
"height": 0.574,
"weight": 5.4
},
"capabilities": ["bipedal_walking", "speech_synthesis", "speech_recognition", "computer_vision", "gestures", "led_control"],
"maxSpeed": 0.55,
"batteryLife": 1.5
},
"naoqiConfig": {
"defaultIP": "nao.local",
"defaultPort": 9559,
"modules": ["ALMotion", "ALTextToSpeech", "ALSpeechRecognition", "ALLeds", "ALAnimationPlayer", "ALBehaviorManager"]
},
"actions": [
{
"id": "say_text",
"name": "Say Text",
"description": "Make the robot speak using text-to-speech",
"category": "interaction",
"icon": "volume-2",
"timeout": 15000,
"retryable": true,
"parameterSchema": {
"type": "object",
"properties": {
"text": {
"type": "string",
"default": "Hello, I am NAO!",
"description": "Text to speak"
},
"volume": {
"type": "number",
"minimum": 0.1,
"maximum": 1.0,
"default": 0.7,
"description": "Speech volume (0.1 to 1.0)"
},
"speed": {
"type": "number",
"minimum": 50,
"maximum": 400,
"default": 100,
"description": "Speech speed in words per minute"
}
},
"required": ["text"]
},
"naoqi": {
"module": "ALTextToSpeech",
"method": "say",
"parameters": ["text"]
}
},
{
"id": "walk_to_position",
"name": "Walk to Position",
"description": "Walk to a specific position relative to current location",
"category": "movement",
"icon": "footprints",
"timeout": 30000,
"retryable": true,
"parameterSchema": {
"type": "object",
"properties": {
"x": {
"type": "number",
"minimum": -2.0,
"maximum": 2.0,
"default": 0.5,
"description": "Forward distance in meters"
},
"y": {
"type": "number",
"minimum": -1.0,
"maximum": 1.0,
"default": 0.0,
"description": "Sideways distance in meters (left is positive)"
},
"theta": {
"type": "number",
"minimum": -3.14159,
"maximum": 3.14159,
"default": 0.0,
"description": "Turn angle in radians"
}
},
"required": ["x", "y", "theta"]
},
"naoqi": {
"module": "ALMotion",
"method": "walkTo",
"parameters": ["x", "y", "theta"]
}
},
{
"id": "play_animation",
"name": "Play Animation",
"description": "Play a predefined animation or gesture",
"category": "interaction",
"icon": "zap",
"timeout": 20000,
"retryable": true,
"parameterSchema": {
"type": "object",
"properties": {
"animation": {
"type": "string",
"enum": ["Hello", "Goodbye", "Excited", "Thinking", "Clap", "Dance", "BowShort", "WipeForehead"],
"default": "Hello",
"description": "Animation to play"
}
},
"required": ["animation"]
},
"naoqi": {
"module": "ALAnimationPlayer",
"method": "run",
"parameters": ["animations/Stand/Gestures/{animation}"]
}
},
{
"id": "set_led_color",
"name": "Set LED Color",
"description": "Change the color of NAO's eye LEDs",
"category": "interaction",
"icon": "lightbulb",
"timeout": 5000,
"retryable": true,
"parameterSchema": {
"type": "object",
"properties": {
"color": {
"type": "string",
"enum": ["red", "green", "blue", "yellow", "magenta", "cyan", "white", "orange", "pink"],
"default": "blue",
"description": "LED color"
},
"intensity": {
"type": "number",
"minimum": 0.0,
"maximum": 1.0,
"default": 1.0,
"description": "LED brightness (0.0 to 1.0)"
}
},
"required": ["color"]
},
"naoqi": {
"module": "ALLeds",
"method": "fadeRGB",
"parameters": ["FaceLeds", "color", "intensity", 1.0]
}
},
{
"id": "sit_down",
"name": "Sit Down",
"description": "Make the robot sit down",
"category": "movement",
"icon": "minus-square",
"timeout": 10000,
"retryable": true,
"parameterSchema": {
"type": "object",
"properties": {},
"required": []
},
"naoqi": {
"module": "ALMotion",
"method": "rest",
"parameters": []
}
},
{
"id": "stand_up",
"name": "Stand Up",
"description": "Make the robot stand up from sitting position",
"category": "movement",
"icon": "plus-square",
"timeout": 10000,
"retryable": true,
"parameterSchema": {
"type": "object",
"properties": {},
"required": []
},
"naoqi": {
"module": "ALMotion",
"method": "wakeUp",
"parameters": []
}
},
{
"id": "listen_for_speech",
"name": "Listen for Speech",
"description": "Listen for specific words or phrases",
"category": "sensors",
"icon": "mic",
"timeout": 30000,
"retryable": true,
"parameterSchema": {
"type": "object",
"properties": {
"vocabulary": {
"type": "array",
"items": {
"type": "string"
},
"default": ["yes", "no", "hello", "goodbye"],
"description": "Words to listen for"
},
"confidence": {
"type": "number",
"minimum": 0.3,
"maximum": 1.0,
"default": 0.5,
"description": "Minimum confidence threshold"
}
},
"required": ["vocabulary"]
},
"naoqi": {
"module": "ALSpeechRecognition",
"method": "setVocabulary",
"parameters": ["vocabulary", "confidence"]
}
},
{
"id": "turn_head",
"name": "Turn Head",
"description": "Turn the robot's head to look in a specific direction",
"category": "movement",
"icon": "rotate-ccw",
"timeout": 5000,
"retryable": true,
"parameterSchema": {
"type": "object",
"properties": {
"yaw": {
"type": "number",
"minimum": -2.0857,
"maximum": 2.0857,
"default": 0.0,
"description": "Head yaw angle in radians (left-right)"
},
"pitch": {
"type": "number",
"minimum": -0.6720,
"maximum": 0.5149,
"default": 0.0,
"description": "Head pitch angle in radians (up-down)"
},
"speed": {
"type": "number",
"minimum": 0.1,
"maximum": 1.0,
"default": 0.3,
"description": "Movement speed fraction"
}
},
"required": ["yaw", "pitch"]
},
"naoqi": {
"module": "ALMotion",
"method": "setAngles",
"parameters": [["HeadYaw", "HeadPitch"], ["yaw", "pitch"], "speed"]
}
}
]
}

90
plugins/turtlebot3-burger.json
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"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/",
@@ -42,12 +46,7 @@
"height": 0.192,
"weight": 1.0
},
"capabilities": [
"differential_drive",
"lidar",
"imu",
"odometry"
],
"capabilities": ["differential_drive", "lidar", "imu", "odometry"],
"maxSpeed": 0.22,
"batteryLife": 2.5
},
@@ -66,31 +65,29 @@
"actions": [
{
"actionId": "move-velocity",
"type": "move",
"title": "Set Velocity",
"id": "move_velocity",
"name": "Set Velocity",
"description": "Control the robot's linear and angular velocity",
"category": "movement",
"icon": "navigation",
"parameters": {
"timeout": 30000,
"retryable": true,
"parameterSchema": {
"type": "object",
"properties": {
"linear": {
"type": "number",
"title": "Linear Velocity",
"description": "Forward/backward velocity",
"default": 0,
"minimum": -0.22,
"maximum": 0.22,
"unit": "m/s"
"default": 0,
"description": "Forward/backward velocity in m/s"
},
"angular": {
"type": "number",
"title": "Angular Velocity",
"description": "Rotational velocity",
"default": 0,
"minimum": -2.84,
"maximum": 2.84,
"unit": "rad/s"
"default": 0,
"description": "Rotational velocity in rad/s"
}
},
"required": ["linear", "angular"]
@@ -111,34 +108,30 @@
}
},
{
"actionId": "move-to-pose",
"type": "move",
"title": "Move to Position",
"id": "move_to_pose",
"name": "Move to Position",
"description": "Navigate to a specific position on the map",
"category": "movement",
"icon": "target",
"parameters": {
"timeout": 60000,
"retryable": true,
"parameterSchema": {
"type": "object",
"properties": {
"x": {
"type": "number",
"title": "X Position",
"description": "X coordinate in meters",
"default": 0,
"unit": "m"
"description": "X coordinate in meters"
},
"y": {
"type": "number",
"title": "Y Position",
"description": "Y coordinate in meters",
"default": 0,
"unit": "m"
"description": "Y coordinate in meters"
},
"theta": {
"type": "number",
"title": "Orientation",
"description": "Final orientation",
"default": 0,
"unit": "rad"
"description": "Final orientation in radians"
}
},
"required": ["x", "y", "theta"]
@@ -151,6 +144,37 @@
"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
}
}
}
]
}
}

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plugins/turtlebot3-waffle.json Normal file
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{
"robotId": "turtlebot3-waffle",
"name": "TurtleBot3 Waffle",
"description": "Extended TurtleBot3 platform with additional sensors and computing power for advanced research applications",
"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-waffle/thumb.png",
"images": {
"main": "assets/turtlebot3-waffle/main.jpg",
"angles": {
"front": "assets/turtlebot3-waffle/front.png",
"side": "assets/turtlebot3-waffle/side.png",
"top": "assets/turtlebot3-waffle/top.png"
},
"logo": "assets/turtlebot3-waffle/logo.png"
},
"model": {
"format": "URDF",
"url": "https://raw.githubusercontent.com/ROBOTIS-GIT/turtlebot3/master/turtlebot3_description/urdf/turtlebot3_waffle.urdf"
}
},
"specs": {
"dimensions": {
"length": 0.281,
"width": 0.306,
"height": 0.141,
"weight": 1.8
},
"capabilities": [
"differential_drive",
"lidar",
"imu",
"odometry",
"camera",
"manipulation"
],
"maxSpeed": 0.26,
"batteryLife": 2.8
},
"ros2Config": {
"namespace": "turtlebot3",
"nodePrefix": "hri_studio",
"defaultTopics": {
"cmd_vel": "/cmd_vel",
"odom": "/odom",
"scan": "/scan",
"imu": "/imu",
"joint_states": "/joint_states",
"camera": "/camera/image_raw",
"camera_info": "/camera/camera_info"
}
},
"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": -0.26,
"maximum": 0.26,
"default": 0,
"description": "Forward/backward velocity in m/s"
},
"angular": {
"type": "number",
"minimum": -1.82,
"maximum": 1.82,
"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": "Navigate to Position",
"description": "Navigate to a specific position on the map using autonomous navigation",
"category": "movement",
"icon": "target",
"timeout": 120000,
"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": "capture_image",
"name": "Capture Image",
"description": "Capture an image from the robot's camera",
"category": "sensors",
"icon": "camera",
"timeout": 10000,
"retryable": true,
"parameterSchema": {
"type": "object",
"properties": {
"filename": {
"type": "string",
"default": "image_{timestamp}.jpg",
"description": "Filename for the captured image"
},
"quality": {
"type": "integer",
"minimum": 1,
"maximum": 100,
"default": 85,
"description": "JPEG quality (1-100)"
}
},
"required": ["filename"]
},
"ros2": {
"messageType": "sensor_msgs/msg/Image",
"topic": "/camera/image_raw",
"payloadMapping": {
"type": "transform",
"transformFn": "captureAndSaveImage"
}
}
},
{
"id": "scan_environment",
"name": "Scan Environment",
"description": "Perform a 360-degree scan of the environment using LIDAR",
"category": "sensors",
"icon": "radar",
"timeout": 15000,
"retryable": true,
"parameterSchema": {
"type": "object",
"properties": {
"duration": {
"type": "number",
"minimum": 1.0,
"maximum": 10.0,
"default": 3.0,
"description": "Scan duration in seconds"
},
"save_data": {
"type": "boolean",
"default": true,
"description": "Save scan data to file"
}
},
"required": ["duration"]
},
"ros2": {
"messageType": "sensor_msgs/msg/LaserScan",
"topic": "/scan",
"payloadMapping": {
"type": "transform",
"transformFn": "collectLaserScan"
}
}
},
{
"id": "rotate_in_place",
"name": "Rotate in Place",
"description": "Rotate the robot by a specific angle",
"category": "movement",
"icon": "rotate-cw",
"timeout": 30000,
"retryable": true,
"parameterSchema": {
"type": "object",
"properties": {
"angle": {
"type": "number",
"minimum": -6.28,
"maximum": 6.28,
"default": 1.57,
"description": "Rotation angle in radians (positive = counterclockwise)"
},
"speed": {
"type": "number",
"minimum": 0.1,
"maximum": 1.0,
"default": 0.5,
"description": "Rotation speed as fraction of maximum"
}
},
"required": ["angle"]
},
"ros2": {
"messageType": "geometry_msgs/msg/Twist",
"topic": "/cmd_vel",
"payloadMapping": {
"type": "transform",
"transformFn": "transformToRotation"
}
}
},
{
"id": "follow_wall",
"name": "Follow Wall",
"description": "Follow a wall using LIDAR sensor feedback",
"category": "movement",
"icon": "move-3d",
"timeout": 60000,
"retryable": true,
"parameterSchema": {
"type": "object",
"properties": {
"side": {
"type": "string",
"enum": ["left", "right"],
"default": "right",
"description": "Which side wall to follow"
},
"distance": {
"type": "number",
"minimum": 0.2,
"maximum": 1.0,
"default": 0.3,
"description": "Desired distance from wall in meters"
},
"duration": {
"type": "number",
"minimum": 5.0,
"maximum": 120.0,
"default": 30.0,
"description": "Duration to follow wall in seconds"
}
},
"required": ["side", "distance", "duration"]
},
"ros2": {
"messageType": "geometry_msgs/msg/Twist",
"topic": "/cmd_vel",
"payloadMapping": {
"type": "transform",
"transformFn": "wallFollowing"
}
}
},
{
"id": "emergency_stop",
"name": "Emergency Stop",
"description": "Immediately stop all robot movement and disable motors",
"category": "movement",
"icon": "octagon",
"timeout": 2000,
"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
}
}
},
{
"id": "get_robot_state",
"name": "Get Robot State",
"description": "Retrieve current robot position, orientation, and status",
"category": "sensors",
"icon": "info",
"timeout": 5000,
"retryable": true,
"parameterSchema": {
"type": "object",
"properties": {
"include_sensor_data": {
"type": "boolean",
"default": false,
"description": "Include latest sensor readings in response"
}
},
"required": []
},
"ros2": {
"messageType": "nav_msgs/msg/Odometry",
"topic": "/odom",
"payloadMapping": {
"type": "transform",
"transformFn": "extractRobotState"
}
}
}
]
}