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task_description__compose.json
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task_description__compose.json
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{
"$schema": "https://json-schema.org/draft/2020-12/schema",
"$id": "https://raw.githubusercontent.com/open-rmf/rmf_ros2/main/rmf_fleet_adapter/schemas/task_description__compose.json",
"title": "Compose Task Description",
"description": "Compose a task description based on activities that are supported by fleets. When supported by fleets, this can be used as a task description for task_request.",
"type": "object",
"properties": {
"category": {
"description": "Specify the category for this composed task, as the operators should see it.",
"type": "string"
},
"detail": {
"description": "Specify the detail for this composed task, as the operators should see it.",
"type": "string"
},
"phases": {
"description": "List the phases of the task in the order that they should be performed.",
"type": "array",
"items": {
"type": "object",
"properties": {
"activity": { "$ref": "#/$defs/activity" },
"on_cancel": {
"description": "A list of activities to perform if the task is canceled during this phase. Each activity is given its own phase which can be skipped but not canceled.",
"type": "array",
"items": { "$ref": "#/$defs/activity" }
}
},
"required": ["activity"]
},
"minimum": 1
}
},
"required": ["phases"],
"$defs": {
"activity": {
"description": "Describe the activity of the phase. This must match an activity description supported by one of the fleets. If there should be multiple activities within a phase, then use a Sequence activity.",
"type": "object",
"properties": {
"category": {
"description": "The category of this phase's activity.",
"type": "string"
},
"description": {
"description": "A description of the activity. This must match a schema supported by a fleet for the category of this activity."
}
},
"required": ["category", "description"]
}
}
}