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:

{
  "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

"manufacturer": {
  "name": string,
  "website": string (URL),
  "support": string (URL)?
}

Documentation Links

"documentation": {
  "mainUrl": string (URL),
  "apiReference": string (URL)?,
  "wikiUrl": string (URL)?,
  "videoUrl": string (URL)?
}

Assets Configuration

"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

"specs": {
  "dimensions": {
    "length": number,
    "width": number,
    "height": number,
    "weight": number
  },
  "capabilities": string[],
  "maxSpeed": number,
  "batteryLife": number,
  "payload": number?
}

ROS2 Configuration

"ros2Config": {
  "namespace": string,
  "nodePrefix": string,
  "defaultTopics": {
    [key: string]: string
  }
}

Actions

Each action in the actions array follows this structure:

{
  "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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