{
  "$schema": "https://json-schema.org/draft/2020-12/schema",
  "$id": "https://affinedrift.com/data/ztcf/ztcf_intervention_v1.schema.json",
  "title": "AffineDrift ZTCF Intervention v1",
  "type": "object",
  "additionalProperties": false,
  "required": [
    "schema_version",
    "intervention_id",
    "status",
    "construction",
    "model",
    "state",
    "zeroed_input",
    "retained",
    "integration",
    "expected",
    "interpretation",
    "parity",
    "failure",
    "preconditions",
    "postconditions",
    "failure_states"
  ],
  "properties": {
    "schema_version": { "const": "affinedrift.ztcf-intervention/v1" },
    "intervention_id": { "type": "string", "minLength": 1 },
    "status": { "enum": ["available", "unavailable"] },
    "construction": { "const": "forward" },
    "model": { "$ref": "#/$defs/model" },
    "state": { "$ref": "#/$defs/state" },
    "zeroed_input": { "$ref": "#/$defs/zeroed_input" },
    "retained": { "$ref": "#/$defs/retained" },
    "integration": { "$ref": "#/$defs/integration" },
    "expected": {
      "anyOf": [{ "$ref": "#/$defs/terminal_state" }, { "type": "null" }]
    },
    "interpretation": { "$ref": "#/$defs/interpretation" },
    "parity": { "$ref": "#/$defs/parity" },
    "failure": {
      "anyOf": [{ "$ref": "#/$defs/failure" }, { "type": "null" }]
    },
    "preconditions": { "$ref": "#/$defs/nonempty_strings" },
    "postconditions": { "$ref": "#/$defs/nonempty_strings" },
    "failure_states": {
      "type": "array",
      "minItems": 1,
      "items": { "$ref": "#/$defs/failure" }
    }
  },
  "allOf": [
    {
      "if": { "properties": { "status": { "const": "available" } } },
      "then": {
        "properties": {
          "expected": { "$ref": "#/$defs/terminal_state" },
          "failure": { "type": "null" }
        }
      },
      "else": {
        "properties": {
          "expected": { "type": "null" },
          "failure": { "$ref": "#/$defs/failure" }
        }
      }
    }
  ],
  "$defs": {
    "number_triplet": {
      "type": "array",
      "minItems": 3,
      "maxItems": 3,
      "items": { "type": "number" }
    },
    "string_triplet": {
      "type": "array",
      "minItems": 3,
      "maxItems": 3,
      "items": { "type": "string", "minLength": 1 }
    },
    "nonempty_strings": {
      "type": "array",
      "minItems": 1,
      "items": { "type": "string", "minLength": 1 }
    },
    "parameters": {
      "type": "object",
      "additionalProperties": false,
      "required": [
        "masses",
        "lengths",
        "inertias",
        "shaft_mass",
        "modal_frequencies",
        "com_fractions"
      ],
      "properties": {
        "masses": { "$ref": "#/$defs/number_triplet" },
        "lengths": { "$ref": "#/$defs/number_triplet" },
        "inertias": { "$ref": "#/$defs/number_triplet" },
        "shaft_mass": { "type": "number", "exclusiveMinimum": 0 },
        "modal_frequencies": {
          "type": "array",
          "minItems": 2,
          "maxItems": 2,
          "items": { "type": "number" }
        },
        "com_fractions": { "$ref": "#/$defs/number_triplet" }
      }
    },
    "model": {
      "type": "object",
      "additionalProperties": false,
      "required": [
        "id",
        "version",
        "source_revision",
        "engine",
        "engine_version",
        "parameters"
      ],
      "properties": {
        "id": { "type": "string", "minLength": 1 },
        "version": { "type": "string", "minLength": 1 },
        "source_revision": { "type": "string", "pattern": "^[0-9a-f]{40}$" },
        "engine": { "type": "string", "minLength": 1 },
        "engine_version": { "type": "string", "minLength": 1 },
        "parameters": { "$ref": "#/$defs/parameters" }
      }
    },
    "state": {
      "type": "object",
      "additionalProperties": false,
      "required": [
        "coordinates",
        "frame",
        "position_units",
        "velocity_units",
        "q",
        "qd"
      ],
      "properties": {
        "coordinates": {
          "type": "array",
          "minItems": 6,
          "maxItems": 6,
          "items": { "type": "string", "minLength": 1 }
        },
        "frame": { "type": "string", "minLength": 1 },
        "position_units": { "const": "rad" },
        "velocity_units": { "const": "rad/s" },
        "q": { "$ref": "#/$defs/number_triplet" },
        "qd": { "$ref": "#/$defs/number_triplet" }
      }
    },
    "zeroed_input": {
      "type": "object",
      "additionalProperties": false,
      "required": ["name", "physical_level", "channels", "units", "values"],
      "properties": {
        "name": { "type": "string", "minLength": 1 },
        "physical_level": { "const": "applied_generalized_torque" },
        "channels": { "$ref": "#/$defs/string_triplet" },
        "units": { "const": "N*m" },
        "values": {
          "type": "array",
          "prefixItems": [{ "const": 0 }, { "const": 0 }, { "const": 0 }],
          "items": false,
          "minItems": 3,
          "maxItems": 3
        }
      }
    },
    "retained": {
      "type": "object",
      "additionalProperties": false,
      "required": [
        "controls",
        "constraints",
        "contact",
        "loads",
        "internal_states",
        "parameters"
      ],
      "properties": {
        "controls": { "type": "array", "items": { "type": "string" } },
        "constraints": { "type": "array", "items": { "type": "string" } },
        "contact": { "type": "string", "minLength": 1 },
        "loads": { "type": "array", "items": { "type": "string" } },
        "internal_states": { "type": "array", "items": { "type": "string" } },
        "parameters": { "type": "string", "minLength": 1 }
      }
    },
    "integration": {
      "type": "object",
      "additionalProperties": false,
      "required": [
        "start_time",
        "end_time",
        "time_units",
        "solver",
        "solver_version",
        "steps",
        "absolute_tolerance"
      ],
      "properties": {
        "start_time": { "type": "number" },
        "end_time": { "type": "number" },
        "time_units": { "const": "s" },
        "solver": { "const": "fixed-step RK4" },
        "solver_version": { "type": "string", "minLength": 1 },
        "steps": { "type": "integer", "minimum": 1 },
        "absolute_tolerance": { "type": "number", "exclusiveMinimum": 0 }
      }
    },
    "terminal_state": {
      "type": "object",
      "additionalProperties": false,
      "required": [
        "time",
        "q",
        "qd",
        "clubhead_speed",
        "frame",
        "position_units",
        "velocity_units",
        "speed_units"
      ],
      "properties": {
        "time": { "type": "number" },
        "q": { "$ref": "#/$defs/number_triplet" },
        "qd": { "$ref": "#/$defs/number_triplet" },
        "clubhead_speed": { "type": "number" },
        "frame": { "type": "string", "minLength": 1 },
        "position_units": { "const": "rad" },
        "velocity_units": { "const": "rad/s" },
        "speed_units": { "const": "m/s" }
      }
    },
    "interpretation": {
      "type": "object",
      "additionalProperties": false,
      "required": [
        "simulated_trajectory_difference",
        "contribution_measure",
        "causal_estimand",
        "physiological_interpretation",
        "non_identifiability"
      ],
      "properties": {
        "simulated_trajectory_difference": { "type": "string", "minLength": 1 },
        "contribution_measure": { "type": "string", "minLength": 1 },
        "causal_estimand": { "type": "string", "minLength": 1 },
        "physiological_interpretation": { "type": "string", "minLength": 1 },
        "non_identifiability": { "$ref": "#/$defs/nonempty_strings" }
      }
    },
    "parity": {
      "type": "object",
      "additionalProperties": false,
      "required": ["status", "engines", "tolerance", "note"],
      "properties": {
        "status": { "enum": ["not_claimed", "verified"] },
        "engines": { "$ref": "#/$defs/nonempty_strings" },
        "tolerance": { "type": ["number", "null"] },
        "note": { "type": "string", "minLength": 1 }
      }
    },
    "failure": {
      "type": "object",
      "additionalProperties": false,
      "required": ["code", "message"],
      "properties": {
        "code": {
          "enum": [
            "invalid_contract",
            "engine_unavailable",
            "engine_unsupported",
            "numerical_failure"
          ]
        },
        "message": { "type": "string", "minLength": 1 }
      }
    }
  }
}