{
  "$schema": "https://mecha10.dev/schemas/behavior-composition-v1.json",
  "name": "patrol_simple",
  "description": "Simple square patrol pattern using timed movements",
  "root": {
    "type": "sequence",
    "children": [
      {
        "type": "node",
        "node": "move",
        "config": {
          "topic": "/motor/cmd_vel",
          "linear": 0.5,
          "angular": 0.0,
          "duration_secs": 3.0
        }
      },
      {
        "type": "node",
        "node": "move",
        "config": {
          "topic": "/motor/cmd_vel",
          "linear": 0.0,
          "angular": 0.8,
          "duration_secs": 1.96
        }
      },
      {
        "type": "node",
        "node": "move",
        "config": {
          "topic": "/motor/cmd_vel",
          "linear": 0.5,
          "angular": 0.0,
          "duration_secs": 3.0
        }
      },
      {
        "type": "node",
        "node": "move",
        "config": {
          "topic": "/motor/cmd_vel",
          "linear": 0.0,
          "angular": 0.8,
          "duration_secs": 1.96
        }
      },
      {
        "type": "node",
        "node": "move",
        "config": {
          "topic": "/motor/cmd_vel",
          "linear": 0.5,
          "angular": 0.0,
          "duration_secs": 3.0
        }
      },
      {
        "type": "node",
        "node": "move",
        "config": {
          "topic": "/motor/cmd_vel",
          "linear": 0.0,
          "angular": 0.8,
          "duration_secs": 1.96
        }
      },
      {
        "type": "node",
        "node": "move",
        "config": {
          "topic": "/motor/cmd_vel",
          "linear": 0.5,
          "angular": 0.0,
          "duration_secs": 3.0
        }
      },
      {
        "type": "node",
        "node": "move",
        "config": {
          "topic": "/motor/cmd_vel",
          "linear": 0.0,
          "angular": 0.8,
          "duration_secs": 1.96
        }
      }
    ]
  }
}
