task_generator_msgs

rosidl interfaces consumed and published by task_generator (the per-env episode loop). Episode lifecycle, task-mode and config queries, per-env spawn/reset, robot fleet descriptors.

Runtime types (env registry, holds, world confirm, cleanup, purge) live in arena_runtime_msgs instead.

Audio frames and sound detections live in arena_robots_msgs. Types of the arena acoustics backend (sound sources, events and receptions, room impulses, runtime microphone services) live in arena_auditory_msgs (the arena_auditory submodule).

Services (srv/)

File	Purpose
ResetEpisode.srv	Advance to a new episode; accepts optional world and seed for replay. Resolves any in-flight RunEpisode goal with Result.SKIPPED (reason="reset").
QueueEpisode.srv	Stage the next episode (modes, world, robots, per-mode params, human backend params). Applied at the next reset.
Pause.srv	Toggle pause from external callers.
GetTaskModes.srv	Return currently active task-mode strings.
QueryWorlds.srv / QueryScenarios.srv / QueryEnvironments.srv / QueryParametrizeds.srv / QueryRobots.srv / QueryStaticObstacles.srv / QueryDynamicObstacles.srv / QueryTaskModes.srv	Listing of available shortnames for the corresponding asset class.
SpawnStatic.srv / SpawnDynamic.srv / SpawnRobot.srv	Inject a static obstacle / dynamic pedestrian / additional robot into the running episode via TM_Obstacles.extend / TM_Robots.extend. SpawnRobot accepts an optional args (diagnostic_msgs/KeyValue[]) forwarded to Robot.parse (e.g. mobile, mobile.local_planner, mobile.agent), and an immediate flag that provisions the robot into the live world now (idle) instead of committing on the next reset.
SpawnSound.srv / RemoveSound.srv	Spawn an environment sound of a kind (default asset, or asset_id and playback when customize_playback) at a pose via runtime/spawn_sound, optionally attached to the pose's frame, and remove it by the returned entity via runtime/remove_sound.
MoveEntity.srv	Move a runtime-spawned static obstacle or sound by the handle its spawn returned, or any robot by name, to a map-frame pose via runtime/move. The same path the rviz drag handles use.
DespawnRobot.srv	Single fleet-removal surface: stages a live robot for teardown on the next reset, un-stages a queued despawn, or cancels a queued spawn (toggles state/robots/pending).
SetSemantic.srv	Write one semantic field value on an entity via semantics/set; one of three writer paths into semantics state (timeline, modules, external).

Messages (msg/)

File	Purpose
EpisodeRecord.msg	One episode: id, world, seed, task modes, robots[], outcome_state (QUEUED / RUNNING / SUCCESS / FAILED / SKIPPED / FATAL), outcome_info (live status string, may be republished mid-episode via Task.set_info), integrity flag, plus obstacles_params / robots_params (effective per-mode params, with staged dict overlay for queued records) and human_params (namespaced human backend params the active backend accepted, same overlay). Published latched on state/episode and state/queue. conditions is a JSON list of {op, p, q, text} episode conditions, empty when none. goal_dist_start / goal_dist_min / path_length track the robot that closed the least of its start-to-goal distance, sampled every 0.5s. Zero when no GoTo goal was active. phases is a JSON map robot name -> {phases, conditions, map_poses, goal_inputs, instructions} of every phase submitted this episode, resolved, map_poses being the realized map-frame goto pose per phase, goal_inputs what the robot's planner receives (pose, instruction) and instructions the {source, text} it was told per dispatched phase (null without one).
RobotDescriptor.msg	Lean per-robot identity (name, model, ns, frame); shared with RobotQueue, whose pending entries have no resolved caps.
RobotCap.msg	One resolved, effective cap on a live robot: cap name, bound adapter kind, mount instance, morphology variant.
RobotState.msg	A resolved, live fleet member: RobotDescriptor + resolved RobotCap[] + resolved morphology params.
RobotFleet.msg	All currently-active RobotStates in the env. Published latched on state/robots.
RobotQueue.msg	Robots staged for spawn/despawn (the pending fleet delta, as lean RobotDescriptors), applied on the next reset. Published latched on state/robots/pending.
AdapterVizManifest.msg	Per-env viz manifest: env-level AdapterDisplay[], per-robot AdapterEntry[] and the rviz panels and tools backends contribute as AdapterPlugin[] (role, pluginlib class_name, panel name, properties_json). Published latched on state/viz_manifest.
RecordedTopics.msg	Topics the recorder subscribes to beyond its own, as RecordedTopic[] rows (key, topic template with {ns} and {tg}, msg_type, robot_scoped, throttled, qos_transient_local, reliable, depth (0 = the recorder default), recorded). Published latched (TRANSIENT_LOCAL, depth 1) on state/recorded_topics.
SemanticSnapshot.msg	Full latched semantic state of the env: stamp, world, SemanticEntityState[]. Published on state/semantics (TRANSIENT_LOCAL), republished on any quantum-passing change (attach/detach/reset/write).
SemanticEntityState.msg	One semantic entity: kind, index-aligned discrete/continuous/predicate name-value arrays, members (committed occupant ids).

Actions (action/)

File	Purpose
RunEpisode.action	Single-flight episode runner: goal carries optional world; result state is one of QUEUED / RUNNING / SUCCESS / FAILED / SKIPPED / FATAL (FATAL = env never reached a runnable state, do not retry). A concurrent ResetEpisode resolves the in-flight goal with SKIPPED.