{
  "$schema": "https://json-schema.org/draft/2020-12/schema",
  "$id": "urn:robot-bt:contracts:blackboard-group-snapshot:1",
  "title": "Robot BT Blackboard atomic group snapshot v1 — proposed external-store protocol",
  "description": "This is a proposed shared storage envelope, not a deployed service or the ROS IDL. Semantic CAS, TTL, writer authentication, UUID correlation and epoch validation are required outside JSON Schema. No motor/velocity/joint/action-chunk fields are accepted. Timeout fields are storage projections in milliseconds, not additions to ExecuteManipulation.action.",
  "type": "object",
  "properties": {
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      "const": 1
    },
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      "minLength": 1,
      "maxLength": 512
    },
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        "current_step",
        "navigation_config",
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        "manipulation_execution",
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        "robot_state",
        "safety_state",
        "task_result"
      ]
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    },
    "previous_revision": {
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      "minimum": 0
    },
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        "TaskCoordinator",
        "BTExecutor",
        "TaskAdapter",
        "GroundTargetAdapter",
        "FreeSpaceAdapter",
        "NavigationActionAdapter",
        "ManipulationActionAdapter",
        "VerificationAdapter",
        "RobotStateBridge",
        "SafetyBridge",
        "TaskFinalizer"
      ]
    },
    "trace": {
      "$ref": "#/$defs/trace"
    },
    "source_goal_id": {
      "type": "string"
    },
    "geometry_epoch": {
      "type": "string",
      "pattern": "^(0|[1-9][0-9]{0,19})$",
      "description": "Canonical unsigned decimal string; semantic validator enforces uint64 range."
    },
    "clock_id": {
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      "minLength": 1,
      "maxLength": 512
    },
    "observed_at_ns": {
      "type": "string",
      "pattern": "^(0|[1-9][0-9]{0,18})$",
      "description": "Nanoseconds in the declared ROS clock domain, encoded as decimal string to preserve precision; zero is invalid for observations."
    },
    "valid_until_ns": {
      "type": "string",
      "pattern": "^(0|[1-9][0-9]{0,18})$",
      "description": "Nanoseconds in the declared ROS clock domain, encoded as decimal string to preserve precision; zero is invalid for observations."
    },
    "payload": {}
  },
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    "robot_id",
    "group",
    "revision",
    "previous_revision",
    "writer",
    "trace",
    "source_goal_id",
    "geometry_epoch",
    "clock_id",
    "observed_at_ns",
    "valid_until_ns",
    "payload"
  ],
  "additionalProperties": false,
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            "const": "task"
          }
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          "group"
        ]
      },
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        "properties": {
          "writer": {
            "const": "TaskCoordinator"
          },
          "payload": {
            "$ref": "#/$defs/task_payload"
          }
        }
      }
    },
    {
      "if": {
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            "const": "current_step"
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        },
        "required": [
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            "const": "BTExecutor"
          },
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            "$ref": "#/$defs/current_step_payload"
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      }
    },
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            "const": "navigation_config"
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        "required": [
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            "const": "TaskAdapter"
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            "$ref": "#/$defs/navigation_config_payload"
          }
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    },
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            "const": "target_binding"
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          "writer": {
            "const": "GroundTargetAdapter"
          },
          "payload": {
            "$ref": "#/$defs/target_binding_payload"
          }
        }
      }
    },
    {
      "if": {
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            "const": "placement_binding"
          }
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        "required": [
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        "properties": {
          "writer": {
            "const": "FreeSpaceAdapter"
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          }
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      }
    },
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        "required": [
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          "writer": {
            "const": "NavigationActionAdapter"
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            "$ref": "#/$defs/navigation_execution_payload"
          }
        }
      }
    },
    {
      "if": {
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          "group": {
            "const": "manipulation_execution"
          }
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        "required": [
          "group"
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        "properties": {
          "writer": {
            "const": "ManipulationActionAdapter"
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          "payload": {
            "$ref": "#/$defs/manipulation_execution_payload"
          }
        }
      }
    },
    {
      "if": {
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          "group": {
            "const": "verification"
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        },
        "required": [
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        ]
      },
      "then": {
        "properties": {
          "writer": {
            "const": "VerificationAdapter"
          },
          "payload": {
            "$ref": "#/$defs/verification_payload"
          }
        }
      }
    },
    {
      "if": {
        "properties": {
          "group": {
            "const": "robot_state"
          }
        },
        "required": [
          "group"
        ]
      },
      "then": {
        "properties": {
          "writer": {
            "const": "RobotStateBridge"
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          "payload": {
            "$ref": "#/$defs/robot_state_payload"
          }
        }
      }
    },
    {
      "if": {
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            "const": "safety_state"
          }
        },
        "required": [
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      "then": {
        "properties": {
          "writer": {
            "const": "SafetyBridge"
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          "payload": {
            "$ref": "#/$defs/safety_state_payload"
          }
        }
      }
    },
    {
      "if": {
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          "group": {
            "const": "task_result"
          }
        },
        "required": [
          "group"
        ]
      },
      "then": {
        "properties": {
          "writer": {
            "const": "TaskFinalizer"
          },
          "payload": {
            "$ref": "#/$defs/task_result_payload"
          }
        }
      }
    }
  ],
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          "maxLength": 512
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          "pattern": "^(0|[1-9][0-9]{0,19})$",
          "description": "Canonical unsigned decimal string; semantic validator enforces uint64 range."
        }
      },
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        "subtask_id",
        "attempt",
        "task_revision",
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        "run_id",
        "execution_generation"
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      "additionalProperties": false
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          "minLength": 1,
          "maxLength": 512
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        "description": {
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          "maxLength": 512
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          "maxLength": 512
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          "minLength": 1,
          "maxLength": 512
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        "description"
      ],
      "additionalProperties": false
    },
    "empty_region_target": {
      "type": "object",
      "properties": {
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          "const": ""
        },
        "description": {
          "const": ""
        }
      },
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        "description"
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      "additionalProperties": false
    },
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          "maxLength": 512
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          "pattern": "^(0|[1-9][0-9]{0,18})$",
          "description": "Nanoseconds in the declared ROS clock domain, encoded as decimal string to preserve precision; zero is invalid for observations."
        },
        "x": {
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          "description": "Nanoseconds in the declared ROS clock domain, encoded as decimal string to preserve precision; zero is invalid for observations."
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        },
        "destination_ref": {
          "type": "string",
          "minLength": 1,
          "maxLength": 512
        },
        "verification_goal_id": {
          "type": "string",
          "minLength": 1,
          "maxLength": 512
        },
        "evidence_ref": {
          "type": "string",
          "minLength": 1,
          "maxLength": 512
        },
        "committed_at_ns": {
          "type": "string",
          "pattern": "^(0|[1-9][0-9]{0,18})$",
          "description": "Nanoseconds in the declared ROS clock domain, encoded as decimal string to preserve precision; zero is invalid for observations."
        }
      },
      "required": [
        "task_id",
        "item_index",
        "target_ref",
        "destination_ref",
        "verification_goal_id",
        "evidence_ref",
        "committed_at_ns"
      ],
      "additionalProperties": false
    },
    "task_payload": {
      "type": "object",
      "properties": {
        "status": {
          "type": "string",
          "enum": [
            "RECEIVED",
            "QUEUED",
            "PLANNING",
            "NEEDS_CLARIFICATION",
            "READY",
            "EXECUTING",
            "PAUSING",
            "PAUSED",
            "CANCELING",
            "INTERVENTION_REQUIRED",
            "SUCCEEDED",
            "FAILED",
            "CANCELED",
            "EXPIRED"
          ]
        },
        "status_version": {
          "type": "string",
          "pattern": "^(0|[1-9][0-9]{0,19})$",
          "description": "Canonical unsigned decimal string; semantic validator enforces uint64 range."
        },
        "instruction": {
          "type": "string",
          "minLength": 1,
          "maxLength": 1000
        },
        "plan_hash": {
          "type": "string"
        },
        "approved_plan_ref": {
          "type": "string"
        },
        "question_id": {
          "type": "string"
        },
        "canceled": {
          "type": "boolean"
        }
      },
      "required": [
        "status",
        "status_version",
        "instruction",
        "plan_hash",
        "approved_plan_ref",
        "question_id",
        "canceled"
      ],
      "additionalProperties": false
    },
    "current_step_payload": {
      "type": "object",
      "properties": {
        "stage": {
          "type": "string",
          "enum": [
            "PREFLIGHT",
            "NAVIGATE_OBSERVE",
            "LOCATE_SHELF_COLUMN",
            "NAVIGATE_SOURCE",
            "LOCALIZE_TARGET",
            "PICK",
            "VERIFY_PICK",
            "TRANSPORT_POSTURE",
            "VERIFY_TRANSPORT",
            "NAVIGATE_DESTINATION",
            "CHECK_FREE_SPACE",
            "PLACE",
            "VERIFY_PLACE",
            "DELIVER",
            "CLEANUP"
          ]
        },
        "subtask_id": {
          "type": "string",
          "minLength": 1,
          "maxLength": 512
        },
        "attempt": {
          "type": "integer",
          "minimum": 1
        },
        "active_goal_id": {
          "type": "string"
        }
      },
      "required": [
        "stage",
        "subtask_id",
        "attempt",
        "active_goal_id"
      ],
      "additionalProperties": false
    },
    "navigation_config_payload": {
      "type": "object",
      "properties": {
        "source_observation": {
          "$ref": "#/$defs/station"
        },
        "source_parking": {
          "oneOf": [
            {
              "type": "null"
            },
            {
              "$ref": "#/$defs/station"
            }
          ]
        },
        "destination": {
          "$ref": "#/$defs/station"
        }
      },
      "required": [
        "source_observation",
        "source_parking",
        "destination"
      ],
      "additionalProperties": false
    },
    "target_binding_payload": {
      "type": "object",
      "properties": {
        "target": {
          "$ref": "#/$defs/object_target"
        },
        "grasp_region_ref": {
          "type": "string"
        },
        "target_point": {
          "$ref": "#/$defs/point"
        },
        "grasp_point": {
          "$ref": "#/$defs/point"
        },
        "grasp_point_valid": {
          "type": "boolean"
        },
        "geometry_valid": {
          "type": "boolean"
        },
        "station_binding_ref": {
          "type": "string",
          "minLength": 1,
          "maxLength": 512
        },
        "shelf_id": {
          "type": "string",
          "minLength": 1,
          "maxLength": 512
        },
        "side_id": {
          "type": "string",
          "minLength": 1,
          "maxLength": 512
        },
        "column_id": {
          "type": "string",
          "minLength": 1,
          "maxLength": 512
        },
        "tier_id": {
          "type": "string"
        },
        "calibration_id": {
          "type": "string",
          "minLength": 1,
          "maxLength": 512
        },
        "observation_id": {
          "type": "string",
          "minLength": 1,
          "maxLength": 512
        }
      },
      "required": [
        "target",
        "grasp_region_ref",
        "target_point",
        "grasp_point",
        "grasp_point_valid",
        "geometry_valid",
        "station_binding_ref",
        "shelf_id",
        "side_id",
        "column_id",
        "tier_id",
        "calibration_id",
        "observation_id"
      ],
      "additionalProperties": false
    },
    "placement_binding_payload": {
      "type": "object",
      "properties": {
        "target_ref": {
          "type": "string",
          "minLength": 1,
          "maxLength": 512
        },
        "destination": {
          "$ref": "#/$defs/region_target"
        },
        "placement_region_ref": {
          "type": "string",
          "minLength": 1,
          "maxLength": 512
        },
        "placement_point": {
          "$ref": "#/$defs/point"
        },
        "placement_point_valid": {
          "type": "boolean"
        },
        "placement_pose": {
          "$ref": "#/$defs/pose"
        },
        "placement_pose_valid": {
          "type": "boolean"
        },
        "geometry_valid": {
          "type": "boolean"
        },
        "observation_id": {
          "type": "string",
          "minLength": 1,
          "maxLength": 512
        }
      },
      "required": [
        "target_ref",
        "destination",
        "placement_region_ref",
        "placement_point",
        "placement_point_valid",
        "placement_pose",
        "placement_pose_valid",
        "geometry_valid",
        "observation_id"
      ],
      "additionalProperties": false
    },
    "navigation_execution_payload": {
      "type": "object",
      "properties": {
        "request": {
          "$ref": "#/$defs/navigation_request"
        },
        "current_goal_id": {
          "type": "string",
          "minLength": 1,
          "maxLength": 512
        },
        "feedback": {
          "oneOf": [
            {
              "type": "null"
            },
            {
              "$ref": "#/$defs/navigation_feedback"
            }
          ]
        },
        "result": {
          "oneOf": [
            {
              "type": "null"
            },
            {
              "$ref": "#/$defs/execution_result"
            }
          ]
        },
        "stop_state": {
          "type": "string",
          "enum": [
            "UNKNOWN",
            "CONFIRMED"
          ]
        },
        "active_goal_records": {
          "type": "array",
          "items": {
            "$ref": "#/$defs/goal_record"
          }
        }
      },
      "required": [
        "request",
        "current_goal_id",
        "feedback",
        "result",
        "stop_state",
        "active_goal_records"
      ],
      "additionalProperties": false
    },
    "manipulation_execution_payload": {
      "type": "object",
      "properties": {
        "request": {
          "$ref": "#/$defs/manipulation_request"
        },
        "current_goal_id": {
          "type": "string",
          "minLength": 1,
          "maxLength": 512
        },
        "feedback": {
          "oneOf": [
            {
              "type": "null"
            },
            {
              "$ref": "#/$defs/manipulation_feedback"
            }
          ]
        },
        "result": {
          "oneOf": [
            {
              "type": "null"
            },
            {
              "$ref": "#/$defs/execution_result"
            }
          ]
        },
        "stop_state": {
          "type": "string",
          "enum": [
            "UNKNOWN",
            "CONFIRMED"
          ]
        },
        "execution_record_ref": {
          "type": "string"
        },
        "active_goal_records": {
          "type": "array",
          "items": {
            "$ref": "#/$defs/goal_record"
          }
        }
      },
      "required": [
        "request",
        "current_goal_id",
        "feedback",
        "result",
        "stop_state",
        "execution_record_ref",
        "active_goal_records"
      ],
      "additionalProperties": false
    },
    "verification_payload": {
      "type": "object",
      "properties": {
        "evidence": {
          "$ref": "#/$defs/verification_evidence"
        },
        "held_target_binding": {
          "oneOf": [
            {
              "type": "null"
            },
            {
              "$ref": "#/$defs/object_target"
            }
          ]
        },
        "subject_goal_id": {
          "type": "string",
          "description": "Proposed storage-only linkage to the preceding manipulation/posture goal; empty only for PRECHECK/standalone stop checks. Not a field in the current VerifyState.action."
        }
      },
      "required": [
        "evidence",
        "held_target_binding",
        "subject_goal_id"
      ],
      "additionalProperties": false
    },
    "robot_state_payload": {
      "type": "object",
      "properties": {
        "base_stopped": {
          "$ref": "#/$defs/valid_bool"
        },
        "posture_settled": {
          "$ref": "#/$defs/valid_bool"
        },
        "holding_state": {
          "$ref": "#/$defs/holding"
        },
        "held_target_ref": {
          "type": "string"
        },
        "posture_id": {
          "type": "string"
        },
        "pose_valid": {
          "type": "boolean"
        },
        "pose": {
          "$ref": "#/$defs/pose"
        },
        "evidence_ref": {
          "type": "string",
          "minLength": 1,
          "maxLength": 512
        }
      },
      "required": [
        "base_stopped",
        "posture_settled",
        "holding_state",
        "held_target_ref",
        "posture_id",
        "pose_valid",
        "pose",
        "evidence_ref"
      ],
      "additionalProperties": false
    },
    "safety_state_payload": {
      "type": "object",
      "properties": {
        "safety_valid": {
          "type": "boolean"
        },
        "motion_allowed": {
          "type": "boolean"
        },
        "emergency_stop_active": {
          "type": "boolean"
        },
        "protective_stop_active": {
          "type": "boolean"
        },
        "error_code": {
          "type": "string"
        },
        "evidence_ref": {
          "type": "string",
          "minLength": 1,
          "maxLength": 512
        }
      },
      "required": [
        "safety_valid",
        "motion_allowed",
        "emergency_stop_active",
        "protective_stop_active",
        "error_code",
        "evidence_ref"
      ],
      "additionalProperties": false
    },
    "task_result_payload": {
      "type": "object",
      "properties": {
        "status": {
          "type": "string",
          "enum": [
            "SUCCEEDED",
            "FAILED",
            "CANCELED",
            "INTERVENTION_REQUIRED"
          ]
        },
        "completed_quantity": {
          "type": "integer",
          "minimum": 0,
          "maximum": 1
        },
        "remaining_quantity": {
          "type": "integer",
          "minimum": 0,
          "maximum": 1
        },
        "failure_codes": {
          "type": "array",
          "items": {
            "type": "string",
            "minLength": 1,
            "maxLength": 512
          }
        },
        "delivery_ledger_ref": {
          "type": "string"
        },
        "deliveries": {
          "type": "array",
          "items": {
            "$ref": "#/$defs/delivery_record"
          }
        }
      },
      "required": [
        "status",
        "completed_quantity",
        "remaining_quantity",
        "failure_codes",
        "delivery_ledger_ref",
        "deliveries"
      ],
      "additionalProperties": false
    }
  }
}