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MIT License
Copyright (c) 2024 HRIStudio Contributors
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.

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# HRIStudio Robot Plugins
This repository contains robot plugins for use with HRIStudio, a platform for designing and executing human-robot interaction experiments.
## Repository Structure
```
robot-plugins/
├── plugins/ # Robot plugin definitions (JSON)
├── assets/ # Robot images and 3D models
│ └── {robotId}/ # Assets for each robot
└── docs/ # Plugin documentation
```
## Adding a New Robot Plugin
1. Create a new JSON file in the `plugins` directory with your robot's plugin definition
2. Add required assets to the `assets/{robotId}` directory
3. Update documentation if needed
4. Submit a pull request
## Required Files
For each robot plugin, you need:
### Plugin Definition
- `plugins/{robotId}.json` - Plugin configuration file
### Assets
- `assets/{robotId}/thumb.png` - Thumbnail image (160x160px)
- `assets/{robotId}/main.png` - Main image (16:9 aspect ratio)
- `assets/{robotId}/dimensions.png` - Technical drawing (optional)
- Additional views (optional):
- `assets/{robotId}/front.png`
- `assets/{robotId}/side.png`
- `assets/{robotId}/top.png`
## Plugin Schema
See [docs/schema.md](docs/schema.md) for the complete plugin schema documentation.
## Example Plugin
See the TurtleBot3 Burger plugin (`plugins/turtlebot3-burger.json`) for a complete example.
## Contributing
1. Fork this repository
2. Create your plugin following the structure above
3. Test your plugin with HRIStudio
4. Submit a pull request
## License
MIT License - See LICENSE file for details

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<svg width="400" height="400" viewBox="0 0 400 400" fill="none" xmlns="http://www.w3.org/2000/svg">
<rect width="400" height="400" fill="#F3F4F6"/>
<path d="M200 150C177.909 150 160 167.909 160 190C160 212.091 177.909 230 200 230C222.091 230 240 212.091 240 190C240 167.909 222.091 150 200 150ZM200 220C183.458 220 170 206.542 170 190C170 173.458 183.458 160 200 160C216.542 160 230 173.458 230 190C230 206.542 216.542 220 200 220Z" fill="#9CA3AF"/>
<path d="M200 180C194.477 180 190 184.477 190 190C190 195.523 194.477 200 200 200C205.523 200 210 195.523 210 190C210 184.477 205.523 180 200 180Z" fill="#9CA3AF"/>
<text x="200" y="270" text-anchor="middle" font-family="system-ui" font-size="16" fill="#6B7280">Image Coming Soon</text>
<text x="200" y="290" text-anchor="middle" font-family="system-ui" font-size="14" fill="#9CA3AF">TurtleBot3 Burger</text>
</svg>
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<svg width="400" height="400" viewBox="0 0 400 400" fill="none" xmlns="http://www.w3.org/2000/svg">
<rect width="400" height="400" fill="#F3F4F6"/>
<path d="M200 150C177.909 150 160 167.909 160 190C160 212.091 177.909 230 200 230C222.091 230 240 212.091 240 190C240 167.909 222.091 150 200 150ZM200 220C183.458 220 170 206.542 170 190C170 173.458 183.458 160 200 160C216.542 160 230 173.458 230 190C230 206.542 216.542 220 200 220Z" fill="#9CA3AF"/>
<path d="M200 180C194.477 180 190 184.477 190 190C190 195.523 194.477 200 200 200C205.523 200 210 195.523 210 190C210 184.477 205.523 180 200 180Z" fill="#9CA3AF"/>
<text x="200" y="270" text-anchor="middle" font-family="system-ui" font-size="16" fill="#6B7280">Image Coming Soon</text>
<text x="200" y="290" text-anchor="middle" font-family="system-ui" font-size="14" fill="#9CA3AF">TurtleBot3 Burger</text>
</svg>
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<svg width="400" height="400" viewBox="0 0 400 400" fill="none" xmlns="http://www.w3.org/2000/svg">
<rect width="400" height="400" fill="#F3F4F6"/>
<path d="M200 150C177.909 150 160 167.909 160 190C160 212.091 177.909 230 200 230C222.091 230 240 212.091 240 190C240 167.909 222.091 150 200 150ZM200 220C183.458 220 170 206.542 170 190C170 173.458 183.458 160 200 160C216.542 160 230 173.458 230 190C230 206.542 216.542 220 200 220Z" fill="#9CA3AF"/>
<path d="M200 180C194.477 180 190 184.477 190 190C190 195.523 194.477 200 200 200C205.523 200 210 195.523 210 190C210 184.477 205.523 180 200 180Z" fill="#9CA3AF"/>
<text x="200" y="270" text-anchor="middle" font-family="system-ui" font-size="16" fill="#6B7280">Image Coming Soon</text>
<text x="200" y="290" text-anchor="middle" font-family="system-ui" font-size="14" fill="#9CA3AF">TurtleBot3 Burger</text>
</svg>
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<svg width="400" height="400" viewBox="0 0 400 400" fill="none" xmlns="http://www.w3.org/2000/svg">
<rect width="400" height="400" fill="#F3F4F6"/>
<path d="M200 150C177.909 150 160 167.909 160 190C160 212.091 177.909 230 200 230C222.091 230 240 212.091 240 190C240 167.909 222.091 150 200 150ZM200 220C183.458 220 170 206.542 170 190C170 173.458 183.458 160 200 160C216.542 160 230 173.458 230 190C230 206.542 216.542 220 200 220Z" fill="#9CA3AF"/>
<path d="M200 180C194.477 180 190 184.477 190 190C190 195.523 194.477 200 200 200C205.523 200 210 195.523 210 190C210 184.477 205.523 180 200 180Z" fill="#9CA3AF"/>
<text x="200" y="270" text-anchor="middle" font-family="system-ui" font-size="16" fill="#6B7280">Image Coming Soon</text>
<text x="200" y="290" text-anchor="middle" font-family="system-ui" font-size="14" fill="#9CA3AF">TurtleBot3 Burger</text>
</svg>
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<svg width="400" height="400" viewBox="0 0 400 400" fill="none" xmlns="http://www.w3.org/2000/svg">
<rect width="400" height="400" fill="#F3F4F6"/>
<path d="M200 150C177.909 150 160 167.909 160 190C160 212.091 177.909 230 200 230C222.091 230 240 212.091 240 190C240 167.909 222.091 150 200 150ZM200 220C183.458 220 170 206.542 170 190C170 173.458 183.458 160 200 160C216.542 160 230 173.458 230 190C230 206.542 216.542 220 200 220Z" fill="#9CA3AF"/>
<path d="M200 180C194.477 180 190 184.477 190 190C190 195.523 194.477 200 200 200C205.523 200 210 195.523 210 190C210 184.477 205.523 180 200 180Z" fill="#9CA3AF"/>
<text x="200" y="270" text-anchor="middle" font-family="system-ui" font-size="16" fill="#6B7280">Image Coming Soon</text>
<text x="200" y="290" text-anchor="middle" font-family="system-ui" font-size="14" fill="#9CA3AF">TurtleBot3 Burger</text>
</svg>
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<svg width="400" height="400" viewBox="0 0 400 400" fill="none" xmlns="http://www.w3.org/2000/svg">
<rect width="400" height="400" fill="#F3F4F6"/>
<path d="M200 150C177.909 150 160 167.909 160 190C160 212.091 177.909 230 200 230C222.091 230 240 212.091 240 190C240 167.909 222.091 150 200 150ZM200 220C183.458 220 170 206.542 170 190C170 173.458 183.458 160 200 160C216.542 160 230 173.458 230 190C230 206.542 216.542 220 200 220Z" fill="#9CA3AF"/>
<path d="M200 180C194.477 180 190 184.477 190 190C190 195.523 194.477 200 200 200C205.523 200 210 195.523 210 190C210 184.477 205.523 180 200 180Z" fill="#9CA3AF"/>
<text x="200" y="270" text-anchor="middle" font-family="system-ui" font-size="16" fill="#6B7280">Image Coming Soon</text>
<text x="200" y="290" text-anchor="middle" font-family="system-ui" font-size="14" fill="#9CA3AF">TurtleBot3 Burger</text>
</svg>
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# Plugin Schema Documentation
This document describes the schema for HRIStudio robot plugins.
## Overview
Each plugin is defined in a JSON file with the following top-level structure:
```json
{
"robotId": string,
"name": string,
"description": string?,
"platform": string,
"version": string,
"manufacturer": object,
"documentation": object,
"assets": object,
"specs": object,
"ros2Config": object,
"actions": array
}
```
## Core Properties
### Required Properties
- `robotId`: Unique identifier for the robot (e.g., "turtlebot3-burger")
- `name`: Display name of the robot
- `platform`: Robot platform/framework (e.g., "ROS2")
- `version`: Plugin version (semver format)
### Optional Properties
- `description`: Detailed description of the robot
## Manufacturer Information
```json
"manufacturer": {
"name": string,
"website": string (URL),
"support": string (URL)?
}
```
## Documentation Links
```json
"documentation": {
"mainUrl": string (URL),
"apiReference": string (URL)?,
"wikiUrl": string (URL)?,
"videoUrl": string (URL)?
}
```
## Assets Configuration
```json
"assets": {
"thumbnailUrl": string,
"images": {
"main": string,
"angles": {
"front": string?,
"side": string?,
"top": string?
},
"dimensions": string?
},
"model": {
"format": "URDF" | "glTF" | "other",
"url": string (URL)
}?
}
```
## Robot Specifications
```json
"specs": {
"dimensions": {
"length": number,
"width": number,
"height": number,
"weight": number
},
"capabilities": string[],
"maxSpeed": number,
"batteryLife": number,
"payload": number?
}
```
## ROS2 Configuration
```json
"ros2Config": {
"namespace": string,
"nodePrefix": string,
"defaultTopics": {
[key: string]: string
}
}
```
## Actions
Each action in the `actions` array follows this structure:
```json
{
"actionId": string,
"type": "move" | "speak" | "wait" | "input" | "gesture" | "record" | "condition" | "loop",
"title": string,
"description": string,
"icon": string?,
"parameters": {
"type": "object",
"properties": {
[key: string]: {
"type": string,
"title": string,
"description": string?,
"default": any?,
"minimum": number?,
"maximum": number?,
"enum": string[]?,
"unit": string?
}
},
"required": string[]
},
"ros2": {
"messageType": string,
"topic": string?,
"service": string?,
"action": string?,
"payloadMapping": {
"type": "direct" | "transform",
"map": object?,
"transformFn": string?
},
"qos": {
"reliability": "reliable" | "best_effort",
"durability": "volatile" | "transient_local",
"history": "keep_last" | "keep_all",
"depth": number?
}?
}
}
```
## QoS Settings
When specifying ROS2 QoS settings:
- `reliability`: Message delivery guarantee
- `reliable`: Guaranteed delivery
- `best_effort`: Fast but may drop messages
- `durability`: Message persistence
- `volatile`: Only delivered to active subscribers
- `transient_local`: Stored for late-joining subscribers
- `history`: Message queue behavior
- `keep_last`: Store up to N messages (specify with depth)
- `keep_all`: Store all messages
## Example
See the TurtleBot3 Burger plugin for a complete example implementation.

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{
"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",
"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.png",
"angles": {
"front": "assets/turtlebot3-burger/front.png",
"side": "assets/turtlebot3-burger/side.png",
"top": "assets/turtlebot3-burger/top.png"
},
"dimensions": "assets/turtlebot3-burger/dimensions.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": [
{
"actionId": "move-velocity",
"type": "move",
"title": "Set Velocity",
"description": "Control the robot's linear and angular velocity",
"icon": "navigation",
"parameters": {
"type": "object",
"properties": {
"linear": {
"type": "number",
"title": "Linear Velocity",
"description": "Forward/backward velocity",
"default": 0,
"minimum": -0.22,
"maximum": 0.22,
"unit": "m/s"
},
"angular": {
"type": "number",
"title": "Angular Velocity",
"description": "Rotational velocity",
"default": 0,
"minimum": -2.84,
"maximum": 2.84,
"unit": "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
}
}
},
{
"actionId": "move-to-pose",
"type": "move",
"title": "Move to Position",
"description": "Navigate to a specific position on the map",
"icon": "target",
"parameters": {
"type": "object",
"properties": {
"x": {
"type": "number",
"title": "X Position",
"description": "X coordinate in meters",
"default": 0,
"unit": "m"
},
"y": {
"type": "number",
"title": "Y Position",
"description": "Y coordinate in meters",
"default": 0,
"unit": "m"
},
"theta": {
"type": "number",
"title": "Orientation",
"description": "Final orientation",
"default": 0,
"unit": "rad"
}
},
"required": ["x", "y", "theta"]
},
"ros2": {
"messageType": "geometry_msgs/msg/PoseStamped",
"action": "/navigate_to_pose",
"payloadMapping": {
"type": "transform",
"transformFn": "transformToPoseStamped"
}
}
}
]
}

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{
"id": "hristudio-official",
"name": "HRIStudio Official Robot Plugins",
"description": "Official collection of robot plugins maintained by the HRIStudio team",
"url": "https://github.com/soconnor0919/robot-plugins",
"official": true,
"author": {
"name": "HRIStudio Team",
"email": "team@hristudio.org",
"url": "https://hristudio.org",
"organization": "HRIStudio"
},
"maintainers": [
{
"name": "Sean O'Connor",
"url": "https://github.com/soconnor0919"
}
],
"homepage": "https://hristudio.org/plugins",
"license": "MIT",
"defaultBranch": "main",
"lastUpdated": "2024-02-12T00:00:00Z",
"trust": "official"
}