schema_version: "1.0"

module:
  name: hermes
  version: "0.1.0"
  display_name: "HERMES — Foundation Model Navigation with Behavior Trees"
  description: "Foundation model integration with ROS2 behavior trees for semantic-aware robot navigation"
  category: navigation.path_planning
  license: Apache-2.0
  paper: "Foundation Models + Behavior Trees for ROS2 Navigation"

capabilities:
  provides:
    - type: navigation
      subtype: semantic_aware
    - type: behavior_planning
      subtype: foundation_model_guided

interface:
  inputs:
    - name: rgb_image
      ros2_type: sensor_msgs/msg/Image
    - name: goal
      ros2_type: geometry_msgs/msg/PoseStamped
  outputs:
    - name: cmd_vel
      ros2_type: geometry_msgs/msg/Twist
    - name: nav_status
      ros2_type: std_msgs/msg/String

hardware:
  platforms:
    - name: linux_x86
      backends: [onnxruntime_cuda, onnxruntime_cpu]
    - name: nvidia_jetson
      backends: [tensorrt, onnxruntime_cuda]

performance:
  profiles:
    - platform: linux_x86
      model: hermes-base
      backend: onnxruntime_cuda
      fps: 10
      latency_p50_ms: 80

safety:
  failure_mode: safe_stop
  timeout_ms: 1000
  health_topic: /anima/hermes/health

composability:
  pairs_well_with:
    - perception.slam
    - perception.scene_understanding
  conflicts_with: []

container:
  image: ghcr.io/robotflow-labs/anima-hermes:0.1.0
  port: 8093