Task planning and execution

The task-planning layer represents mission logic as a versioned JSON intermediate representation. Plans can compose sequence, fallback, retry, condition, operation, and transaction nodes.

Before compilation, a CapabilityRegistry checks that every requested operation is known and allowed. The compiler then produces deterministic BehaviorTree.CPP XML. A standalone C++ host executes the tree and calls LongTAMP through embedded CPython in the same process.

This boundary lets a person, scheduler, or future learned model propose high-level operations while the registry and motion planner remain responsible for executable capabilities and geometric feasibility.

Long missions can checkpoint after completed blocks. A resumed run validates the saved block label against the current mission definition before restoring configuration and held-grasp state.

See the BehaviorTree.CPP integration reference for the schema, compiler mapping, build flags, and host integration.