{
  "system": "Flexible Line Recovery Robot",
  "schema_version": "0.1",
  "states": [
    "BOOT","SAFE","OBSERVE","MAP","SELECT_ACTION","EXECUTE","VERIFY","COMMIT","ROLLBACK","FAULT","SAFE_STOP","OUTPUT"
  ],
  "line_state": {
    "segments": ["id","endpoints","geometry_confidence","tension_class"],
    "relations": ["crossing","loop","adjacency","ownership"],
    "verified_state_id": "string",
    "overall_confidence": "0..1"
  },
  "modules": {
    "module_id": "string",
    "position": "encoder_position",
    "grip_state": ["OPEN","CONTACT","GRIP","RELEASE"],
    "contact_force": "engineering_units",
    "motor_current": "engineering_units",
    "fault_code": "string|null"
  },
  "actions": [
    "ACQUIRE","SLIDE","CREATE_SLACK","LIFT","SEPARATE","TRANSFER","REVERSE","RELEASE"
  ],
  "verification": {
    "required_before_commit": true,
    "checks": [
      "geometry_change",
      "motion_response",
      "grip_consistency",
      "tension_response",
      "confidence_threshold"
    ]
  },
  "failure_policy": {
    "uncertain_state": "DO_NOT_COMMIT",
    "safe_action_failure": "ROLLBACK_TO_LAST_VERIFIED",
    "sensor_fault": "SAFE_STOP_OR_PREDEFINED_SAFE_STATE",
    "tension_limit": "STOP_AND_REDUCE_LOAD",
    "watchdog": "REMOVE_MOTION_AUTHORITY"
  },
  "logging": [
    "run_id","timestamp","state_before","action_id","target_segment",
    "sensor_confidence","expected_change","observed_change",
    "verification_result","state_after","fault_code",
    "rollback_state","operator_intervention"
  ],
  "note": "Engineering interface concept only; production safety limits and hardware-specific values require qualified engineering validation."
}