{
  "$schema": "https://mecha10.dev/schemas/behavior-composition-v1.json",
  "name": "basic_navigation",
  "description": "Simple waypoint navigation behavior for moving the robot to a target position",
  "root": {
    "type": "sequence",
    "name": "navigation_sequence",
    "children": [
      {
        "type": "node",
        "node": "check_battery",
        "name": "battery_check",
        "config": {
          "min_battery_level": 20.0,
          "warn_threshold": 30.0
        }
      },
      {
        "type": "node",
        "node": "plan_path",
        "name": "path_planner",
        "config_ref": "navigation"
      },
      {
        "type": "node",
        "node": "follow_path",
        "name": "path_follower",
        "config_ref": "navigation"
      },
      {
        "type": "node",
        "node": "check_arrival",
        "name": "arrival_check",
        "config": {
          "position_tolerance": 0.1,
          "angular_tolerance": 0.05
        }
      }
    ]
  },
  "configs": {
    "navigation": {
      "target_position": [5.0, 3.0, 0.0],
      "max_speed": 1.0,
      "approach_speed": 0.3,
      "turn_rate": 0.5,
      "path_planning_algorithm": "a_star",
      "replanning_interval_sec": 2.0
    }
  }
}
