{
  "$schema": "https://json-schema.org/draft/2020-12/schema",
  "title": "TaskPlan v2",
  "type": "object",
  "additionalProperties": false,
  "required": [
    "schema_version",
    "plan_version",
    "task_type",
    "goal",
    "route",
    "slots",
    "missing_information",
    "subtasks"
  ],
  "properties": {
    "schema_version": {
      "const": 2
    },
    "plan_version": {
      "type": "integer",
      "minimum": 1,
      "maximum": 4294967295
    },
    "task_type": {
      "enum": [
        "pick_transport_place",
        "multi_item_pick_transport_place"
      ]
    },
    "goal": {
      "type": "string",
      "minLength": 1,
      "maxLength": 1000
    },
    "route": {
      "enum": [
        "OBJECT_TABLE",
        "SHELF_CELL"
      ]
    },
    "slots": {
      "type": "object",
      "additionalProperties": false,
      "required": [
        "items",
        "destination"
      ],
      "properties": {
        "items": {
          "type": "array",
          "minItems": 1,
          "maxItems": 20,
          "items": {
            "type": "object",
            "additionalProperties": false,
            "required": [
              "target_name",
              "quantity",
              "source_location"
            ],
            "properties": {
              "target_name": {
                "type": "string",
                "minLength": 1,
                "maxLength": 200
              },
              "source_location": {
                "type": "string",
                "minLength": 1,
                "maxLength": 200
              },
              "quantity": {
                "type": "integer",
                "minimum": 1,
                "maximum": 20
              }
            }
          }
        },
        "destination": {
          "type": "string",
          "minLength": 1,
          "maxLength": 200
        }
      },
      "description": "Ordered items; sum(quantity)<=20 is also checked in code."
    },
    "missing_information": {
      "type": "array",
      "maxItems": 0
    },
    "subtasks": {
      "type": "array",
      "minItems": 4,
      "maxItems": 120,
      "items": {
        "type": "object",
        "additionalProperties": false,
        "required": [
          "id",
          "skill",
          "arguments",
          "depends_on"
        ],
        "properties": {
          "id": {
            "type": "string",
            "minLength": 1,
            "maxLength": 80
          },
          "skill": {
            "enum": [
              "NAVIGATE",
              "ROBOBRAIN_SHELF_LOCALIZE",
              "PICK",
              "PLACE"
            ]
          },
          "arguments": {
            "type": "object",
            "required": [
              "item_index"
            ],
            "properties": {
              "item_index": {
                "type": "integer",
                "minimum": 0,
                "maximum": 19
              }
            }
          },
          "depends_on": {
            "type": "array",
            "maxItems": 1,
            "items": {
              "type": "string"
            }
          }
        }
      }
    }
  },
  "description": "Runtime validator plan_v2.validate_v2 additionally enforces exact per-route argument fields, count/order, predecessor dependencies and matching slots. JSON Schema alone does not approve execution."
}