# Compact schema excerpt, illustrated with an aspiration skill.
# Supply the full configuration and validation evidence before execution.
version: 1
type: atomic_skill
skill_id: aspirate_from_tube
kind: pi05_policy
status: needs_validation

info:
  summary: Aspirate the requested liquid from an open tube.
slots:
  targets:
    - {name: tube, object_type: centrifuge_tube, required: true}
preconditions:
  all:
    - {predicate: pipette_has_tip}
    - {predicate: centrifuge_tube_open}
safety:
  forbidden_when: [liquid_spill_detected]
  stop_triggers: [collision_risk]
executor:
  type: monte_pi05
  active_side: left
  checkpoint_path: null # Bind a reviewed checkpoint.
expected_end_state:
  must_hold: [pipette_tip_contains_requested_liquid]
  preferred_views: [head_rgb, right_rgb]
monitor:
  success_predicate: pipette_tip_contains_requested_liquid
  uncertain_policy: stop
effects:
  world_patch:
    relations:
      - {subject: requested_liquid, relation: contained_in, object: pipette_tip}
failure_handling:
  max_retries: 0
  on_failure: human
training:
  validation:
    status: unvalidated
    success_trials: 0
    failure_trials: 0