{
  "$schema": "https://json-schema.org/draft/2020-12/schema",
  "webmcp_version": "1.0.0",
  "name": "talos-robot-webmcp",
  "title": "TALOS ESP32 Self-Balancing Robot WebMCP Server",
  "description": "Exposes real-time teleoperation, attitude telemetry, PID tuning, active leg posture articulation, and safety interlocks via the W3C Web Model Context Protocol (WebMCP) standard.",
  "homepage": "https://talosone.web.app/",
  "author": {
    "name": "Chanthul Kannangara",
    "institution": "NSBM Green University",
    "url": "https://www.linkedin.com/in/chanthul-kannangara-4554a22b3/"
  },
  "protocol": {
    "type": "browser-native",
    "api": "navigator.modelContext",
    "fallback_api": "window.__WEBMCP__"
  },
  "tools": [
    {
      "name": "talos_get_telemetry",
      "description": "Fetch live sensor telemetry, balance orientation (pitch, roll), battery level, armed state, and subsystem health from the TALOS robot.",
      "inputSchema": {
        "type": "object",
        "properties": {}
      }
    },
    {
      "name": "talos_motion_command",
      "description": "Drive the robot with directional bias (stop, forward, backward, left, right). The deterministic 200 Hz FreeRTOS loop maintains balance while moving.",
      "inputSchema": {
        "type": "object",
        "properties": {
          "direction": {
            "type": "string",
            "enum": [
              "stop",
              "forward",
              "backward",
              "left",
              "right"
            ],
            "description": "The desired movement direction"
          }
        },
        "required": [
          "direction"
        ]
      }
    },
    {
      "name": "talos_set_speed",
      "description": "Set driving throttle and motion effort percentage (0 to 100%).",
      "inputSchema": {
        "type": "object",
        "properties": {
          "speed": {
            "type": "number",
            "minimum": 0,
            "maximum": 100,
            "description": "Target speed percentage between 0 and 100"
          }
        },
        "required": [
          "speed"
        ]
      }
    },
    {
      "name": "talos_set_armed",
      "description": "Arm or disarm the balancing control loop. Arming activates the 200 Hz PID wheel motors. Disarming coasts the wheels safely.",
      "inputSchema": {
        "type": "object",
        "properties": {
          "armed": {
            "type": "boolean",
            "description": "True to arm and balance, false to disarm into standby."
          }
        },
        "required": [
          "armed"
        ]
      }
    },
    {
      "name": "talos_emergency_stop",
      "description": "Immediate hardware emergency stop. Instantly disarms all wheel and leg actuators, cancels pending commands, and engages safety interlock.",
      "inputSchema": {
        "type": "object",
        "properties": {}
      }
    },
    {
      "name": "talos_set_leg_posture",
      "description": "Articulate dual MG996R leg servos to adjust chassis ride height, ground clearance, and pitch trim.",
      "inputSchema": {
        "type": "object",
        "properties": {
          "legPosition": {
            "type": "integer",
            "minimum": 0,
            "maximum": 100,
            "description": "Leg extension percentage (0 = fully bent / low clearance, 100 = fully extended / high clearance)."
          },
          "legSpeed": {
            "type": "integer",
            "minimum": 0,
            "maximum": 100,
            "description": "Speed of transition (0 to 100 percent)."
          }
        },
        "required": [
          "legPosition",
          "legSpeed"
        ]
      }
    },
    {
      "name": "talos_toggle_leg_assist",
      "description": "Enable or disable active dynamic balance leg assist. When active, leg servos dynamically flex to counteract tilt disturbances.",
      "inputSchema": {
        "type": "object",
        "properties": {
          "enabled": {
            "type": "boolean",
            "description": "True to enable active leg stabilization assist, false to disable."
          }
        },
        "required": [
          "enabled"
        ]
      }
    },
    {
      "name": "talos_tune_pid",
      "description": "Live-tune PID balance loop gains and wheel limits on the ESP32. Applied instantly over Wi-Fi/Firebase.",
      "inputSchema": {
        "type": "object",
        "properties": {
          "kp": {
            "type": "number",
            "minimum": 20,
            "maximum": 250,
            "description": "Proportional gain for tilt error (default: 80)."
          },
          "ki": {
            "type": "number",
            "minimum": 0,
            "maximum": 20,
            "description": "Integral gain for steady-state offset (default: 0)."
          },
          "kd": {
            "type": "number",
            "minimum": 0,
            "maximum": 30,
            "description": "Derivative gyro rate damping gain (default: 2.5)."
          },
          "balanceTrimDeg": {
            "type": "number",
            "minimum": -5,
            "maximum": 5,
            "description": "Zero-angle mechanical pitch trim in degrees."
          },
          "predictionTimeMs": {
            "type": "number",
            "minimum": 10,
            "maximum": 80,
            "description": "Filter lead prediction horizon in milliseconds."
          },
          "maxWheelOutputUs": {
            "type": "integer",
            "minimum": 300,
            "maximum": 500,
            "description": "Max wheel servo pulse delta in microseconds."
          },
          "minActiveWheelOutputUs": {
            "type": "integer",
            "minimum": 100,
            "maximum": 450,
            "description": "Deadband overcome pulse threshold in microseconds."
          }
        }
      }
    },
    {
      "name": "talos_set_fall_limit",
      "description": "Configure maximum tilt safety limit. Exceeding this pitch angle triggers auto-shutdown to protect motors.",
      "inputSchema": {
        "type": "object",
        "properties": {
          "limitDeg": {
            "type": "integer",
            "enum": [
              30,
              60,
              80
            ],
            "description": "Fall detection angle cutoff in degrees (30, 60, or 80)."
          }
        },
        "required": [
          "limitDeg"
        ]
      }
    },
    {
      "name": "talos_set_mode",
      "description": "Switch operational mode of the robot.",
      "inputSchema": {
        "type": "object",
        "properties": {
          "mode": {
            "type": "string",
            "enum": [
              "manual",
              "balance-only",
              "camera-assist"
            ],
            "description": "Operational mode."
          }
        },
        "required": [
          "mode"
        ]
      }
    },
    {
      "name": "talos_get_camera_feed",
      "description": "Retrieve current ESP32-CAM video stream endpoint URL, relay status, and camera connection state.",
      "inputSchema": {
        "type": "object",
        "properties": {}
      }
    }
  ]
}