The task map

A JSON file, given to the bridge as the task_map parameter. It has three top-level tables. It is read once at startup, and TaskMapping::load throws std::runtime_error if the file cannot be read or is not shaped as described here.

Table	Contents
`zones`	domain zone name to RMF waypoint name. A zone with no entry is passed through unchanged, so a map may name RMF waypoints directly.
`agents`	epistemic agent name to `{"fleet": ..., "robot": ...}`. An agent absent from this table cannot act.
`actions`	PlanSys2 action name to its specification. Every key here becomes one performer.

Action fields

Field	Default	Meaning
`local`	`false`	A speech act. Submits no task and completes after `duration`.
`duration`	`1.0`	Seconds a local action takes. Purely for the look of the thing.
`category`	`go_to_place`	RMF task category. Only `go_to_place` is handled today.
`waypoint`	none	The fixed destination.
`waypoints`	`{}`	Per-agent overrides of `waypoint`. This is what lets three agents scan three different places under one action name.
`waypoint_arg`	`-1`	Index of the argument naming the zone, for an action whose destination varies. Negative means use the fixed waypoint.
`movements`	`[]`	For an action that moves several robots at once.
`orientation`	none	Final orientation, in radians, if the task should set one.
`sensing`	`false`	The action finds something out. Only a sensing action’s `finish()` carries an outcome.
`outcome_arg`	`-1`	Index of the argument whose value selects the outcome, for a sensing action performable in several places.
`outcomes`	`{}`	Argument value to outcome token, consulted when `outcome_arg` is set.
`default_outcome`	`""`	Reported when the action senses and RMF carried no token. Empty means an absent token fails the action.

How a destination is resolved

waypoint_for takes the action’s specification, the acting agent and the action’s arguments, and consults three sources in a fixed order. The result is then translated through zones.

Fig. 10 Precedence when resolving a destination; an unlisted zone passes through untranslated

Actions that move several robots

A policy is a chain of product updates and the executor runs it strictly in order, so two consecutive move actions are two robots moving one after the other. Robots move together only when the togetherness is in the model: one event, applied once, that relocates several agents. movements says which of that action’s arguments name the agents and where each of them goes.

Field	Default	Meaning
`agent_arg`	`0`	Index of the argument naming the agent that moves.
`waypoint_arg`	`1`	Index of the argument naming the zone it moves to.

An empty movements is the ordinary case of an action that moves its acting agent alone, which waypoint_arg and waypoint then describe.

Outcomes on a fleet with no sensor

outcomes is the simulator’s ground truth and nothing else: which suite is actually flooded. A robot with a real sensor reports what it measured and none of it is consulted. It exists so that a demo on a fleet without a water sensor can still take both branches of its own policy.

default_outcome serves the same end from the other direction. A fleet adapter that knows nothing of ePlanSys writes no outcome at all, and naming the answer here runs the mission end to end with RMF driving the robots. The bridge logs a warning every time it falls back. Leaving it empty makes an absent token fail the action, which is what a real deployment wants.

Example

A map with a zone table, two bound agents and four actions:

{
  "zones": {
    "lobby": "lobby",
    "l2_suite": "L2_master_suite"
  },
  "agents": {
    "scout": {"fleet": "tinyRobot", "robot": "tinyRobot1"},
    "relay": {"fleet": "tinyRobot", "robot": "tinyRobot2"}
  },
  "actions": {
    "goto_site": {"category": "go_to_place", "waypoint": "pantry"},
    "scan":      {"sensing": true, "waypoint": "pantry",
                  "default_outcome": "e-scan-dirty"},
    "relay":     {"local": true, "duration": 2.0},
    "broadcast": {"local": true, "duration": 2.0}
  }
}

An action whose destination comes from its arguments, such as (goto_zone inspector lobby l3_suite), sets "waypoint_arg": 2. A sensing action performable in several places, such as (look_into inspector l2_suite), sets "outcome_arg": 1 and lists the answers under outcomes.