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ruvnet
2026-08-15 21:30:19 +00:00
parent 8ee221ac24
commit c3147a8830
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38
api-docs/schemas/pose-observation-v2.schema.json Normal file
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{
"$schema": "https://json-schema.org/draft/2020-12/schema",
"$id": "https://ruview.net/schemas/pose-observation-v2.schema.json",
"title": "PoseObservationV2",
"type": "object",
"additionalProperties": false,
"required": ["schema_version", "timestamp_ns", "sensor_epoch", "sequence", "track_id", "frame", "calibration_id", "floor_plane", "model", "source", "trust_state", "dimensionality", "uncertainty_calibrated", "joints", "observer_confidence", "canonical_hash"],
"properties": {
"schema_version": { "const": 2 },
"timestamp_ns": { "type": "integer", "minimum": 0 },
"sensor_epoch": { "type": "integer", "minimum": 0 },
"sequence": { "type": "integer", "minimum": 0 },
"track_id": { "$ref": "#/$defs/string_id" },
"frame": { "$ref": "#/$defs/frame" },
"calibration_id": { "$ref": "#/$defs/string_id" },
"floor_plane": { "oneOf": [{ "type": "null" }, { "$ref": "#/$defs/floor" }] },
"model": { "$ref": "#/$defs/model" },
"source": { "$ref": "#/$defs/source" },
"trust_state": { "enum": ["KNOWN", "DEGRADED", "UNKNOWN"] },
"dimensionality": { "enum": ["image2d", "metric3d"] },
"uncertainty_calibrated": { "type": "boolean" },
"joints": { "type": "array", "minItems": 17, "maxItems": 17, "items": { "$ref": "#/$defs/joint" } },
"observer_confidence": { "$ref": "#/$defs/probability" },
"canonical_hash": { "$ref": "#/$defs/hash" }
},
"$defs": {
"probability": { "type": "number", "minimum": 0, "maximum": 1 },
"hash": { "type": "array", "minItems": 32, "maxItems": 32, "items": { "type": "integer", "minimum": 0, "maximum": 255 } },
"string_id": { "type": "string", "minLength": 1, "maxLength": 128 },
"vec3": { "type": "array", "minItems": 3, "maxItems": 3, "items": { "type": "number" } },
"frame": { "type": "object", "additionalProperties": false, "required": ["name", "version", "metric", "right_handed", "z_up"], "properties": { "name": { "type": "string", "minLength": 1, "maxLength": 128 }, "version": { "type": "integer", "minimum": 1 }, "metric": { "type": "boolean" }, "right_handed": { "type": "boolean" }, "z_up": { "type": "boolean" } } },
"floor": { "type": "object", "additionalProperties": false, "required": ["normal", "offset_m"], "properties": { "normal": { "$ref": "#/$defs/vec3" }, "offset_m": { "type": "number" } } },
"model": { "type": "object", "additionalProperties": false, "required": ["id", "artifact_hash"], "properties": { "id": { "type": "string", "minLength": 1, "maxLength": 128 }, "artifact_hash": { "$ref": "#/$defs/hash" } } },
"source": { "type": "object", "additionalProperties": false, "required": ["sensor_id", "authenticated", "replay_protected"], "properties": { "sensor_id": { "type": "string", "minLength": 1, "maxLength": 128 }, "authenticated": { "type": "boolean" }, "replay_protected": { "type": "boolean" } } },
"covariance": { "type": "object", "additionalProperties": false, "required": ["xx", "xy", "xz", "yy", "yz", "zz"], "properties": { "xx": { "type": "number", "minimum": 0 }, "xy": { "type": "number" }, "xz": { "type": "number" }, "yy": { "type": "number", "minimum": 0 }, "yz": { "type": "number" }, "zz": { "type": "number", "minimum": 0 } } },
"joint": { "type": "object", "additionalProperties": false, "required": ["kind", "position_m", "covariance_m2", "confidence", "visibility"], "properties": { "kind": { "enum": ["nose", "left_eye", "right_eye", "left_ear", "right_ear", "left_shoulder", "right_shoulder", "left_elbow", "right_elbow", "left_wrist", "right_wrist", "left_hip", "right_hip", "left_knee", "right_knee", "left_ankle", "right_ankle"] }, "position_m": { "$ref": "#/$defs/vec3" }, "covariance_m2": { "$ref": "#/$defs/covariance" }, "confidence": { "$ref": "#/$defs/probability" }, "visibility": { "enum": ["visible", "occluded", "unknown"] } } }
}
}

36
api-docs/schemas/pose-refinement-v1.schema.json Normal file
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{
"$schema": "https://json-schema.org/draft/2020-12/schema",
"$id": "https://ruview.net/schemas/pose-refinement-v1.schema.json",
"title": "PoseRefinementV1",
"type": "object",
"additionalProperties": false,
"required": ["schema_version", "raw_observation_hash", "mode", "disposition", "selected", "refined_joints_m", "physics_confidence", "effective_confidence", "intervention", "residuals", "refined_residuals", "contact_hypotheses", "dynamics", "provenance", "reason", "canonical_hash"],
"properties": {
"schema_version": { "const": 1 },
"raw_observation_hash": { "$ref": "#/$defs/hash" },
"mode": { "enum": ["off", "audit", "shadow_correct", "opt_in_correct", "default_correct"] },
"disposition": { "enum": ["bypassed", "audited2d", "audited", "shadowed", "corrected", "abstained", "rejected"] },
"selected": { "type": "boolean" },
"refined_joints_m": { "oneOf": [{ "type": "null" }, { "type": "array", "minItems": 17, "maxItems": 17, "items": { "$ref": "#/$defs/vec3" } }] },
"physics_confidence": { "$ref": "#/$defs/probability" },
"effective_confidence": { "$ref": "#/$defs/probability" },
"intervention": { "$ref": "#/$defs/intervention" },
"residuals": { "$ref": "#/$defs/residuals" },
"refined_residuals": { "oneOf": [{ "type": "null" }, { "$ref": "#/$defs/residuals" }] },
"contact_hypotheses": { "type": "array", "minItems": 2, "maxItems": 2, "items": { "$ref": "#/$defs/contact" } },
"dynamics": { "oneOf": [{ "type": "null" }, { "$ref": "#/$defs/dynamics" }] },
"provenance": { "$ref": "#/$defs/provenance" },
"reason": { "enum": [null, "mode_off", "unsupported_schema", "hash_mismatch", "invalid_number", "invalid_covariance", "stale_input", "coordinate_frame_mismatch", "calibration_unavailable", "uncertainty_uncalibrated", "ood_unknown", "source_unauthenticated", "replay_protection_unavailable", "correction_not_authorized", "replay_rejected", "non_monotonic_input", "too_few_known_joints", "correction_too_large", "deadline_exceeded", "track_capacity", "internal_error"] },
"canonical_hash": { "$ref": "#/$defs/hash" }
},
"$defs": {
"probability": { "type": "number", "minimum": 0, "maximum": 1 },
"hash": { "type": "array", "minItems": 32, "maxItems": 32, "items": { "type": "integer", "minimum": 0, "maximum": 255 } },
"vec3": { "type": "array", "minItems": 3, "maxItems": 3, "items": { "type": "number" } },
"intervention": { "type": "object", "additionalProperties": false, "required": ["max_joint_correction_m", "root_correction_m", "corrected_joint_count", "solver_iterations", "elapsed_us"], "properties": { "max_joint_correction_m": { "type": "number", "minimum": 0 }, "root_correction_m": { "type": "number", "minimum": 0 }, "corrected_joint_count": { "type": "integer", "minimum": 0, "maximum": 17 }, "solver_iterations": { "type": "integer", "minimum": 0, "maximum": 8 }, "elapsed_us": { "type": "integer", "minimum": 0 } } },
"residuals": { "type": "object", "additionalProperties": false, "required": ["bone_m", "joint_limit_rad", "velocity_mps", "acceleration_mps2", "temporal_jerk", "floor_penetration_m", "contact_m", "collision_m", "normalized_total"], "properties": { "bone_m": { "type": "number", "minimum": 0 }, "joint_limit_rad": { "type": "number", "minimum": 0 }, "velocity_mps": { "type": "number", "minimum": 0 }, "acceleration_mps2": { "type": "number", "minimum": 0 }, "temporal_jerk": { "type": "number", "minimum": 0 }, "floor_penetration_m": { "type": "number", "minimum": 0 }, "contact_m": { "type": "number", "minimum": 0 }, "collision_m": { "type": "number", "minimum": 0 }, "normalized_total": { "type": "number", "minimum": 0 } } },
"contact": { "type": "object", "additionalProperties": false, "required": ["state", "probability"], "properties": { "state": { "enum": ["hypothesis", "measured", "unknown"] }, "probability": { "$ref": "#/$defs/probability" } } },
"dynamics": { "type": "object", "additionalProperties": false, "required": ["stable", "segment_count", "joint_count", "contact_count", "substeps", "tracking_error_m", "joint_anchor_error_m", "floor_penetration_m", "control_effort"], "properties": { "stable": { "type": "boolean" }, "segment_count": { "type": "integer", "minimum": 0, "maximum": 255 }, "joint_count": { "type": "integer", "minimum": 0, "maximum": 255 }, "contact_count": { "type": "integer", "minimum": 0, "maximum": 65535 }, "substeps": { "type": "integer", "minimum": 1, "maximum": 8 }, "tracking_error_m": { "type": "number", "minimum": 0 }, "joint_anchor_error_m": { "type": "number", "minimum": 0 }, "floor_penetration_m": { "type": "number", "minimum": 0 }, "control_effort": { "type": "number", "minimum": 0 } } },
"provenance": { "type": "object", "additionalProperties": false, "required": ["engine", "engine_version", "config_hash", "rf_model_hash", "calibration_id", "learned_artifact_hash"], "properties": { "engine": { "type": "string", "minLength": 1, "maxLength": 128 }, "engine_version": { "type": "string", "minLength": 1, "maxLength": 64 }, "config_hash": { "$ref": "#/$defs/hash" }, "rf_model_hash": { "$ref": "#/$defs/hash" }, "calibration_id": { "type": "string", "minLength": 1, "maxLength": 128 }, "learned_artifact_hash": { "oneOf": [{ "type": "null" }, { "$ref": "#/$defs/hash" }] } } }
}
}