{
  "$schema": "https://json-schema.org/draft/2020-12/schema",
  "$id": "https://mujoco.local/contracts/lekiwi-language-task-v2.schema.json",
  "title": "LeKiwi language task v2",
  "$defs": {
    "Stamp": {
      "type": "object",
      "additionalProperties": false,
      "required": ["runId", "sceneRevision", "sequence", "planRevision", "requestId"],
      "properties": {
        "runId": {
          "type": "string",
          "minLength": 1,
          "maxLength": 128
        },
        "sceneRevision": {
          "type": "integer",
          "minimum": 0,
          "maximum": 1000000000
        },
        "sequence": {
          "type": "integer",
          "minimum": 0,
          "maximum": 1000000000
        },
        "planRevision": {
          "type": "integer",
          "minimum": 0,
          "maximum": 1000000000
        },
        "requestId": {
          "type": "string",
          "minLength": 1,
          "maxLength": 128
        }
      }
    },
    "Position": {
      "type": "array",
      "minItems": 3,
      "maxItems": 3,
      "items": {
        "type": "number",
        "minimum": -2,
        "maximum": 2
      }
    },
    "Observation": {
      "type": "object",
      "additionalProperties": false,
      "required": [
        "version",
        "stamp",
        "source",
        "units",
        "frame",
        "time",
        "phase",
        "base",
        "joints",
        "opening",
        "tcp",
        "object",
        "goal",
        "evidence",
        "safety"
      ],
      "properties": {
        "version": {
          "const": "lekiwi-language-v2"
        },
        "stamp": {
          "$ref": "#/$defs/Stamp"
        },
        "source": {
          "const": "mujoco-ground-truth"
        },
        "units": {
          "const": "SI"
        },
        "frame": {
          "const": "world-z-up"
        },
        "time": {
          "type": "number",
          "minimum": 0,
          "maximum": 1000000
        },
        "phase": {
          "enum": [
            "stow",
            "approach",
            "open",
            "pregrasp",
            "descend",
            "close",
            "verify",
            "carry",
            "stop-base",
            "place",
            "release",
            "retreat",
            "settle"
          ]
        },
        "base": {
          "type": "object",
          "additionalProperties": false,
          "required": ["position", "yaw"],
          "properties": {
            "position": {
              "$ref": "#/$defs/Position"
            },
            "yaw": {
              "type": "number",
              "minimum": -3.142,
              "maximum": 3.142
            }
          }
        },
        "joints": {
          "type": "array",
          "minItems": 5,
          "maxItems": 5,
          "items": {
            "type": "number",
            "minimum": -3.2,
            "maximum": 3.2
          }
        },
        "opening": {
          "type": "number",
          "minimum": 0,
          "maximum": 1
        },
        "tcp": {
          "$ref": "#/$defs/Position"
        },
        "object": {
          "type": "object",
          "additionalProperties": false,
          "required": ["id", "position", "speed"],
          "properties": {
            "id": {
              "const": "block"
            },
            "position": {
              "$ref": "#/$defs/Position"
            },
            "speed": {
              "type": "number",
              "minimum": 0,
              "maximum": 20
            }
          }
        },
        "goal": {
          "type": "object",
          "additionalProperties": false,
          "required": ["id", "position"],
          "properties": {
            "id": {
              "const": "placement"
            },
            "position": {
              "$ref": "#/$defs/Position"
            }
          }
        },
        "evidence": {
          "type": "object",
          "additionalProperties": false,
          "required": ["fingerForces", "supported", "onGoalSupport", "secure", "transported"],
          "properties": {
            "fingerForces": {
              "type": "array",
              "minItems": 2,
              "maxItems": 2,
              "items": {
                "type": "number",
                "minimum": 0,
                "maximum": 10000
              }
            },
            "supported": {
              "type": "boolean"
            },
            "onGoalSupport": {
              "type": "boolean"
            },
            "secure": {
              "type": "boolean"
            },
            "transported": {
              "type": "number",
              "minimum": 0,
              "maximum": 10
            }
          }
        },
        "safety": {
          "type": "array",
          "maxItems": 8,
          "uniqueItems": true,
          "items": {
            "enum": [
              "joint_velocity",
              "joint_stall",
              "base_unstable",
              "unreachable",
              "lost_grasp",
              "episode_timeout",
              "stalled",
              "none"
            ]
          }
        }
      }
    },
    "Plan": {
      "type": "object",
      "additionalProperties": false,
      "required": ["version", "objectId", "goalId", "summary", "steps"],
      "properties": {
        "version": {
          "const": "lekiwi-language-v2"
        },
        "objectId": {
          "const": "block"
        },
        "goalId": {
          "const": "placement"
        },
        "summary": {
          "type": "string",
          "minLength": 1,
          "maxLength": 512
        },
        "steps": {
          "type": "array",
          "minItems": 1,
          "maxItems": 13,
          "items": {
            "type": "object",
            "additionalProperties": false,
            "required": ["skill", "precondition", "onFailure"],
            "properties": {
              "skill": {
                "enum": [
                  "stow",
                  "approach",
                  "open",
                  "pregrasp",
                  "descend",
                  "close",
                  "verify",
                  "carry",
                  "stop-base",
                  "place",
                  "release",
                  "retreat",
                  "settle"
                ]
              },
              "precondition": {
                "enum": [
                  "scene-ready",
                  "base-stopped",
                  "tcp-above",
                  "aligned",
                  "dual-contact",
                  "verified-grasp",
                  "transported",
                  "supported",
                  "released",
                  "retreat",
                  "arm-safe"
                ]
              },
              "onFailure": {
                "enum": ["retry", "replan", "stop"]
              }
            }
          }
        }
      }
    },
    "JevDecision": {
      "type": "object",
      "additionalProperties": false,
      "required": [
        "version",
        "choice",
        "grasp",
        "diagnosis",
        "recovery",
        "noul",
        "score",
        "reason"
      ],
      "properties": {
        "version": {
          "const": "lekiwi-language-v2"
        },
        "choice": {
          "enum": [
            "stow",
            "approach",
            "open",
            "pregrasp",
            "descend",
            "close",
            "verify",
            "carry",
            "stop-base",
            "place",
            "release",
            "retreat",
            "settle",
            "stop"
          ]
        },
        "grasp": {
          "enum": ["secure", "empty", "slipping", "uncertain"]
        },
        "diagnosis": {
          "enum": ["none", "empty", "slipping", "misaligned", "unreachable", "stalled", "uncertain"]
        },
        "recovery": {
          "enum": ["continue", "retry", "replan", "stop"]
        },
        "noul": {
          "enum": ["allow", "deny", "uncertain"]
        },
        "score": {
          "enum": ["poor", "partial", "good", "excellent", "unavailable"]
        },
        "reason": {
          "enum": ["none", "unsafe", "insufficient_evidence", "tracking_error", "verified_progress"]
        }
      }
    },
    "SkillResult": {
      "type": "object",
      "additionalProperties": false,
      "required": ["version", "skill", "status", "code", "evidenceSequence"],
      "properties": {
        "version": {
          "const": "lekiwi-language-v2"
        },
        "skill": {
          "enum": [
            "stow",
            "approach",
            "open",
            "pregrasp",
            "descend",
            "close",
            "verify",
            "carry",
            "stop-base",
            "place",
            "release",
            "retreat",
            "settle"
          ]
        },
        "status": {
          "enum": ["running", "completed", "failed"]
        },
        "code": {
          "enum": [
            "none",
            "joint_velocity",
            "joint_stall",
            "base_unstable",
            "unreachable",
            "lost_grasp",
            "episode_timeout",
            "alignment_timeout",
            "empty_grasp",
            "grasp_unverified",
            "transport_unverified",
            "placement_unsupported",
            "release_blocked",
            "placement_unverified",
            "navigation_timeout",
            "controller_error"
          ]
        },
        "evidenceSequence": {
          "type": "integer",
          "minimum": 0,
          "maximum": 1000000000
        }
      }
    },
    "Command": {
      "type": "object",
      "additionalProperties": false,
      "required": [
        "version",
        "action",
        "value",
        "summary",
        "objectId",
        "targetId",
        "position",
        "supportId"
      ],
      "properties": {
        "version": {
          "const": "lekiwi-language-v2"
        },
        "action": {
          "enum": ["move", "turn", "pick_place", "stop", "clarify"]
        },
        "value": {
          "type": "number",
          "minimum": -180,
          "maximum": 180
        },
        "summary": {
          "type": "string",
          "minLength": 1,
          "maxLength": 200
        },
        "objectId": {
          "enum": ["block", "none"]
        },
        "targetId": {
          "enum": ["A", "B", "coordinates", "none"]
        },
        "position": {
          "type": "array",
          "minItems": 0,
          "maxItems": 3,
          "items": {
            "type": "number",
            "minimum": -2,
            "maximum": 2
          }
        },
        "supportId": {
          "enum": ["source", "table", "none"]
        }
      }
    },
    "SceneContext": {
      "type": "object",
      "additionalProperties": false,
      "required": ["version", "sceneId", "source", "units", "frame", "object", "base", "yaw"],
      "properties": {
        "version": {
          "const": "lekiwi-language-v2"
        },
        "sceneId": {
          "const": "lekiwi-language-scene-v2"
        },
        "source": {
          "const": "mujoco-ground-truth"
        },
        "units": {
          "const": "SI"
        },
        "frame": {
          "const": "world-z-up"
        },
        "object": {
          "$ref": "#/$defs/Position"
        },
        "base": {
          "$ref": "#/$defs/Position"
        },
        "yaw": {
          "type": "number",
          "minimum": -3.142,
          "maximum": 3.142
        }
      }
    }
  }
}