{
  "robotId": "nao6-ros2",
  "name": "NAO6 Robot (ROS2 Integration)",
  "description": "NAO V6 humanoid robot with enhanced ROS2 integration via naoqi_driver2, featuring comprehensive movement control, advanced speech synthesis, emotion expression, multilingual support, and complete sensor monitoring",
  "platform": "ROS2",
  "version": "2.1.0",
  "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://github.com/ros-naoqi/naoqi_driver2",
    "wikiUrl": "https://en.wikipedia.org/wiki/Nao_(robot)",
    "videoUrl": "https://www.youtube.com/watch?v=nNbj2G3GmAg"
  },

  "assets": {
    "thumbnailUrl": "assets/nao6-ros2/thumb.png",
    "images": {
      "main": "assets/nao6-ros2/main.jpg",
      "angles": {
        "front": "assets/nao6-ros2/front.png",
        "side": "assets/nao6-ros2/side.png",
        "top": "assets/nao6-ros2/top.png"
      },
      "logo": "assets/nao6-ros2/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",
      "tactile_sensing",
      "ultrasonic_ranging",
      "inertial_measurement"
    ],
    "maxSpeed": 0.55,
    "batteryLife": 1.5
  },

  "ros2Config": {
    "namespace": "nao",
    "nodePrefix": "hri_studio",
    "defaultTopics": {
      "cmd_vel": "/cmd_vel",
      "odom": "/odom",
      "joint_states": "/joint_states",
      "joint_angles": "/joint_angles",
      "camera_front": "/camera/front/image_raw",
      "camera_bottom": "/camera/bottom/image_raw",
      "imu": "/imu/torso",
      "speech": "/speech",
      "bumper": "/bumper",
      "hand_touch": "/hand_touch",
      "head_touch": "/head_touch",
      "sonar_left": "/sonar/left",
      "sonar_right": "/sonar/right",
      "info": "/info"
    }
  },

  "actions": [
    {
      "id": "walk_velocity",
      "name": "Walk with Velocity",
      "description": "Control robot walking with linear and angular velocities",
      "category": "movement",
      "icon": "navigation",
      "timeout": 5000,
      "retryable": true,
      "parameterSchema": {
        "type": "object",
        "properties": {
          "linear": {
            "type": "number",
            "minimum": -0.55,
            "maximum": 0.55,
            "default": 0.0,
            "description": "Forward velocity in m/s"
          },
          "angular": {
            "type": "number",
            "minimum": -2.0,
            "maximum": 2.0,
            "default": 0.0,
            "description": "Angular 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": "walk_forward",
      "name": "Walk Forward",
      "description": "Make the robot walk forward at specified speed",
      "category": "movement",
      "icon": "arrow-up",
      "timeout": 30000,
      "retryable": true,
      "parameterSchema": {
        "type": "object",
        "properties": {
          "speed": {
            "type": "number",
            "minimum": 0.01,
            "maximum": 0.3,
            "default": 0.1,
            "description": "Walking speed in m/s"
          },
          "duration": {
            "type": "number",
            "minimum": 0,
            "maximum": 30,
            "default": 0,
            "description": "Duration to walk in seconds (0 = indefinite)"
          }
        },
        "required": ["speed"]
      },
      "ros2": {
        "messageType": "geometry_msgs/msg/Twist",
        "topic": "/cmd_vel",
        "payloadMapping": {
          "type": "static",
          "payload": {
            "linear": { "x": "{{speed}}", "y": 0, "z": 0 },
            "angular": { "x": 0, "y": 0, "z": 0 }
          }
        }
      }
    },
    {
      "id": "walk_backward",
      "name": "Walk Backward",
      "description": "Make the robot walk backward at specified speed",
      "category": "movement",
      "icon": "arrow-down",
      "timeout": 30000,
      "retryable": true,
      "parameterSchema": {
        "type": "object",
        "properties": {
          "speed": {
            "type": "number",
            "minimum": 0.01,
            "maximum": 0.3,
            "default": 0.1,
            "description": "Walking speed in m/s"
          },
          "duration": {
            "type": "number",
            "minimum": 0,
            "maximum": 30,
            "default": 0,
            "description": "Duration to walk in seconds (0 = indefinite)"
          }
        },
        "required": ["speed"]
      },
      "ros2": {
        "messageType": "geometry_msgs/msg/Twist",
        "topic": "/cmd_vel",
        "payloadMapping": {
          "type": "static",
          "payload": {
            "linear": { "x": "-{{speed}}", "y": 0, "z": 0 },
            "angular": { "x": 0, "y": 0, "z": 0 }
          }
        }
      }
    },
    {
      "id": "turn_left",
      "name": "Turn Left",
      "description": "Make the robot turn left at specified angular speed",
      "category": "movement",
      "icon": "rotate-ccw",
      "timeout": 30000,
      "retryable": true,
      "parameterSchema": {
        "type": "object",
        "properties": {
          "speed": {
            "type": "number",
            "minimum": 0.1,
            "maximum": 1.0,
            "default": 0.3,
            "description": "Angular speed in rad/s"
          },
          "duration": {
            "type": "number",
            "minimum": 0,
            "maximum": 30,
            "default": 0,
            "description": "Duration to turn in seconds (0 = indefinite)"
          }
        },
        "required": ["speed"]
      },
      "ros2": {
        "messageType": "geometry_msgs/msg/Twist",
        "topic": "/cmd_vel",
        "payloadMapping": {
          "type": "static",
          "payload": {
            "linear": { "x": 0, "y": 0, "z": 0 },
            "angular": { "x": 0, "y": 0, "z": "{{speed}}" }
          }
        }
      }
    },
    {
      "id": "turn_right",
      "name": "Turn Right",
      "description": "Make the robot turn right at specified angular speed",
      "category": "movement",
      "icon": "rotate-cw",
      "timeout": 30000,
      "retryable": true,
      "parameterSchema": {
        "type": "object",
        "properties": {
          "speed": {
            "type": "number",
            "minimum": 0.1,
            "maximum": 1.0,
            "default": 0.3,
            "description": "Angular speed in rad/s"
          },
          "duration": {
            "type": "number",
            "minimum": 0,
            "maximum": 30,
            "default": 0,
            "description": "Duration to turn in seconds (0 = indefinite)"
          }
        },
        "required": ["speed"]
      },
      "ros2": {
        "messageType": "geometry_msgs/msg/Twist",
        "topic": "/cmd_vel",
        "payloadMapping": {
          "type": "static",
          "payload": {
            "linear": { "x": 0, "y": 0, "z": 0 },
            "angular": { "x": 0, "y": 0, "z": "-{{speed}}" }
          }
        }
      }
    },
    {
      "id": "stop_walking",
      "name": "Stop Walking",
      "description": "Immediately stop robot movement",
      "category": "movement",
      "icon": "square",
      "timeout": 3000,
      "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": "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 from NAO!",
            "description": "Text to speak"
          }
        },
        "required": ["text"]
      },
      "ros2": {
        "messageType": "std_msgs/msg/String",
        "topic": "/speech",
        "payloadMapping": {
          "type": "transform",
          "transformFn": "transformToStringMessage"
        },
        "qos": {
          "reliability": "reliable",
          "durability": "volatile"
        }
      }
    },
    {
      "id": "say_with_emotion",
      "name": "Say Text with Emotion",
      "description": "Speak text with emotional expression using SSML-like markup",
      "category": "interaction",
      "icon": "heart",
      "timeout": 15000,
      "retryable": true,
      "parameterSchema": {
        "type": "object",
        "properties": {
          "text": {
            "type": "string",
            "default": "Hello! I'm feeling great today!",
            "description": "Text for the robot to speak"
          },
          "emotion": {
            "type": "string",
            "enum": ["neutral", "happy", "sad", "excited", "calm"],
            "default": "neutral",
            "description": "Emotional tone for speech"
          },
          "speed": {
            "type": "number",
            "minimum": 0.5,
            "maximum": 2.0,
            "default": 1.0,
            "description": "Speech speed multiplier"
          }
        },
        "required": ["text"]
      },
      "ros2": {
        "messageType": "std_msgs/msg/String",
        "topic": "/speech",
        "payloadMapping": {
          "type": "static",
          "payload": {
            "data": "\\rspd={{speed}}\\\\rst={{emotion}}\\{{text}}"
          }
        }
      }
    },
    {
      "id": "set_volume",
      "name": "Set Volume",
      "description": "Adjust the robot's audio volume level",
      "category": "interaction",
      "icon": "volume-x",
      "timeout": 5000,
      "retryable": true,
      "parameterSchema": {
        "type": "object",
        "properties": {
          "volume": {
            "type": "number",
            "minimum": 0.0,
            "maximum": 1.0,
            "default": 0.5,
            "description": "Volume level (0.0 = silent, 1.0 = maximum)"
          }
        },
        "required": ["volume"]
      },
      "ros2": {
        "messageType": "std_msgs/msg/Float32",
        "topic": "/audio_volume",
        "payloadMapping": {
          "type": "static",
          "payload": {
            "data": "{{volume}}"
          }
        }
      }
    },
    {
      "id": "set_language",
      "name": "Set Language",
      "description": "Change the robot's speech language",
      "category": "interaction",
      "icon": "globe",
      "timeout": 5000,
      "retryable": true,
      "parameterSchema": {
        "type": "object",
        "properties": {
          "language": {
            "type": "string",
            "enum": [
              "en-US",
              "en-GB",
              "fr-FR",
              "de-DE",
              "es-ES",
              "it-IT",
              "ja-JP",
              "ko-KR",
              "zh-CN"
            ],
            "default": "en-US",
            "description": "Speech language"
          }
        },
        "required": ["language"]
      },
      "ros2": {
        "messageType": "std_msgs/msg/String",
        "topic": "/set_language",
        "payloadMapping": {
          "type": "static",
          "payload": {
            "data": "{{language}}"
          }
        }
      }
    },
    {
      "id": "move_head",
      "name": "Move Head",
      "description": "Control head orientation (yaw and pitch)",
      "category": "movement",
      "icon": "eye",
      "timeout": 10000,
      "retryable": true,
      "parameterSchema": {
        "type": "object",
        "properties": {
          "yaw": {
            "type": "number",
            "minimum": -2.09,
            "maximum": 2.09,
            "default": 0,
            "description": "Head yaw angle in radians"
          },
          "pitch": {
            "type": "number",
            "minimum": -0.67,
            "maximum": 0.51,
            "default": 0,
            "description": "Head pitch angle in radians"
          },
          "speed": {
            "type": "number",
            "minimum": 0.1,
            "maximum": 1.0,
            "default": 0.3,
            "description": "Movement speed (0.1 = slow, 1.0 = fast)"
          }
        },
        "required": ["yaw", "pitch"]
      },
      "ros2": {
        "messageType": "naoqi_bridge_msgs/msg/JointAnglesWithSpeed",
        "topic": "/joint_angles",
        "payloadMapping": {
          "type": "static",
          "payload": {
            "joint_names": ["HeadYaw", "HeadPitch"],
            "joint_angles": ["{{yaw}}", "{{pitch}}"],
            "speed": "{{speed}}"
          }
        }
      }
    },
    {
      "id": "move_arm",
      "name": "Move Arm",
      "description": "Control arm joint positions",
      "category": "movement",
      "icon": "hand",
      "timeout": 10000,
      "retryable": true,
      "parameterSchema": {
        "type": "object",
        "properties": {
          "arm": {
            "type": "string",
            "enum": ["left", "right"],
            "default": "right",
            "description": "Which arm to control"
          },
          "shoulder_pitch": {
            "type": "number",
            "minimum": -2.09,
            "maximum": 2.09,
            "default": 1.4,
            "description": "Shoulder pitch angle in radians"
          },
          "shoulder_roll": {
            "type": "number",
            "minimum": -0.31,
            "maximum": 1.33,
            "default": 0.2,
            "description": "Shoulder roll angle in radians"
          },
          "elbow_yaw": {
            "type": "number",
            "minimum": -2.09,
            "maximum": 2.09,
            "default": 0,
            "description": "Elbow yaw angle in radians"
          },
          "elbow_roll": {
            "type": "number",
            "minimum": -1.54,
            "maximum": -0.03,
            "default": -0.5,
            "description": "Elbow roll angle in radians"
          },
          "speed": {
            "type": "number",
            "minimum": 0.1,
            "maximum": 1.0,
            "default": 0.3,
            "description": "Movement speed (0.1 = slow, 1.0 = fast)"
          }
        },
        "required": [
          "arm",
          "shoulder_pitch",
          "shoulder_roll",
          "elbow_yaw",
          "elbow_roll"
        ]
      },
      "ros2": {
        "messageType": "naoqi_bridge_msgs/msg/JointAnglesWithSpeed",
        "topic": "/joint_angles",
        "payloadMapping": {
          "type": "static",
          "payload": {
            "joint_names": [
              "{{arm === 'left' ? 'L' : 'R'}}ShoulderPitch",
              "{{arm === 'left' ? 'L' : 'R'}}ShoulderRoll",
              "{{arm === 'left' ? 'L' : 'R'}}ElbowYaw",
              "{{arm === 'left' ? 'L' : 'R'}}ElbowRoll"
            ],
            "joint_angles": [
              "{{shoulder_pitch}}",
              "{{shoulder_roll}}",
              "{{elbow_yaw}}",
              "{{elbow_roll}}"
            ],
            "speed": "{{speed}}"
          }
        }
      }
    },
    {
      "id": "set_joint_angle",
      "name": "Set Joint Angle",
      "description": "Control individual joint angles",
      "category": "movement",
      "icon": "settings",
      "timeout": 10000,
      "retryable": true,
      "parameterSchema": {
        "type": "object",
        "properties": {
          "joint_name": {
            "type": "string",
            "enum": [
              "HeadYaw",
              "HeadPitch",
              "LShoulderPitch",
              "LShoulderRoll",
              "LElbowYaw",
              "LElbowRoll",
              "LWristYaw",
              "RShoulderPitch",
              "RShoulderRoll",
              "RElbowYaw",
              "RElbowRoll",
              "RWristYaw",
              "LHipYawPitch",
              "LHipRoll",
              "LHipPitch",
              "LKneePitch",
              "LAnklePitch",
              "LAnkleRoll",
              "RHipRoll",
              "RHipPitch",
              "RKneePitch",
              "RAnklePitch",
              "RAnkleRoll"
            ],
            "default": "HeadYaw",
            "description": "Joint to control"
          },
          "angle": {
            "type": "number",
            "minimum": -3.14159,
            "maximum": 3.14159,
            "default": 0.0,
            "description": "Target angle in radians"
          },
          "speed": {
            "type": "number",
            "minimum": 0.01,
            "maximum": 1.0,
            "default": 0.2,
            "description": "Movement speed (fraction of max)"
          }
        },
        "required": ["joint_name", "angle"]
      },
      "ros2": {
        "messageType": "naoqi_bridge_msgs/msg/JointAnglesWithSpeed",
        "topic": "/joint_angles",
        "payloadMapping": {
          "type": "transform",
          "transformFn": "transformToJointAngles"
        }
      }
    },
    {
      "id": "turn_head",
      "name": "Turn Head",
      "description": "Control head orientation",
      "category": "movement",
      "icon": "rotate-ccw",
      "timeout": 8000,
      "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": -0.672,
            "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"]
      },
      "ros2": {
        "messageType": "naoqi_bridge_msgs/msg/JointAnglesWithSpeed",
        "topic": "/joint_angles",
        "payloadMapping": {
          "type": "transform",
          "transformFn": "transformToHeadMovement"
        }
      }
    },
    {
      "id": "get_camera_image",
      "name": "Get Camera Image",
      "description": "Capture image from front or bottom camera",
      "category": "sensors",
      "icon": "camera",
      "timeout": 5000,
      "retryable": true,
      "parameterSchema": {
        "type": "object",
        "properties": {
          "camera": {
            "type": "string",
            "enum": ["front", "bottom"],
            "default": "front",
            "description": "Camera to use"
          }
        },
        "required": ["camera"]
      },
      "ros2": {
        "messageType": "sensor_msgs/msg/Image",
        "topic": "/camera/{camera}/image_raw",
        "payloadMapping": {
          "type": "transform",
          "transformFn": "getCameraImage"
        },
        "qos": {
          "reliability": "reliable",
          "durability": "volatile"
        }
      }
    },
    {
      "id": "get_joint_states",
      "name": "Get Joint States",
      "description": "Read current joint positions and velocities",
      "category": "sensors",
      "icon": "activity",
      "timeout": 3000,
      "retryable": true,
      "parameterSchema": {
        "type": "object",
        "properties": {},
        "required": []
      },
      "ros2": {
        "messageType": "sensor_msgs/msg/JointState",
        "topic": "/joint_states",
        "payloadMapping": {
          "type": "transform",
          "transformFn": "getJointStates"
        },
        "qos": {
          "reliability": "reliable",
          "durability": "volatile"
        }
      }
    },
    {
      "id": "get_imu_data",
      "name": "Get IMU Data",
      "description": "Read inertial measurement unit data from torso",
      "category": "sensors",
      "icon": "compass",
      "timeout": 3000,
      "retryable": true,
      "parameterSchema": {
        "type": "object",
        "properties": {},
        "required": []
      },
      "ros2": {
        "messageType": "sensor_msgs/msg/Imu",
        "topic": "/imu/torso",
        "payloadMapping": {
          "type": "transform",
          "transformFn": "getImuData"
        },
        "qos": {
          "reliability": "reliable",
          "durability": "volatile"
        }
      }
    },
    {
      "id": "get_bumper_status",
      "name": "Get Bumper Status",
      "description": "Read foot bumper contact sensors",
      "category": "sensors",
      "icon": "zap",
      "timeout": 3000,
      "retryable": true,
      "parameterSchema": {
        "type": "object",
        "properties": {},
        "required": []
      },
      "ros2": {
        "messageType": "naoqi_bridge_msgs/msg/Bumper",
        "topic": "/bumper",
        "payloadMapping": {
          "type": "transform",
          "transformFn": "getBumperStatus"
        }
      }
    },
    {
      "id": "get_touch_sensors",
      "name": "Get Touch Sensors",
      "description": "Read hand and head touch sensor states",
      "category": "sensors",
      "icon": "hand",
      "timeout": 3000,
      "retryable": true,
      "parameterSchema": {
        "type": "object",
        "properties": {
          "sensor_type": {
            "type": "string",
            "enum": ["hand", "head"],
            "default": "hand",
            "description": "Touch sensor type to read"
          }
        },
        "required": ["sensor_type"]
      },
      "ros2": {
        "messageType": "naoqi_bridge_msgs/msg/HandTouch",
        "topic": "/{sensor_type}_touch",
        "payloadMapping": {
          "type": "transform",
          "transformFn": "getTouchSensors"
        }
      }
    },
    {
      "id": "get_sonar_range",
      "name": "Get Sonar Range",
      "description": "Read ultrasonic range sensor data",
      "category": "sensors",
      "icon": "radio",
      "timeout": 3000,
      "retryable": true,
      "parameterSchema": {
        "type": "object",
        "properties": {
          "sensor": {
            "type": "string",
            "enum": ["left", "right", "both"],
            "default": "both",
            "description": "Sonar sensor to read"
          }
        },
        "required": ["sensor"]
      },
      "ros2": {
        "messageType": "sensor_msgs/msg/Range",
        "topic": "/sonar/{sensor}",
        "payloadMapping": {
          "type": "transform",
          "transformFn": "getSonarRange"
        }
      }
    },
    {
      "id": "get_robot_info",
      "name": "Get Robot Info",
      "description": "Read general robot information and status",
      "category": "sensors",
      "icon": "info",
      "timeout": 3000,
      "retryable": true,
      "parameterSchema": {
        "type": "object",
        "properties": {},
        "required": []
      },
      "ros2": {
        "messageType": "naoqi_bridge_msgs/msg/RobotInfo",
        "topic": "/info",
        "payloadMapping": {
          "type": "transform",
          "transformFn": "getRobotInfo"
        }
      }
    }
  ]
}