feat(lab): complete E30 evidence review gate

docs/adr/0023-sensor-representation-capabilities-and-free-space-admission.md

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+# ADR 0023: require sensor capabilities before algorithm admission
+
+Date: 2026-07-26
+Status: accepted
+
+## Context
+
+ADR 0018 introduced the immutable K1-specific
+`missioncore.lidar-evidence-profile/v1`, and ADRs 0020–0021 established that the
+external K1 `lio_pcl` product is a post-LIO, map-registered increment rather
+than a native sensor scan. Those decisions correctly block known incompatible
+LiDAR stages, but the compatibility rules are still encoded per stage.
+
+Mission Core must also admit future native scanners, depth sources and
+simulation providers without allowing an algorithm to infer missing physical
+properties from a successful API call. In particular, the absence of endpoints
+in the current K1 representation is not evidence that a ray traversed free
+space.
+
+## Decision
+
+1. Mission Core owns
+   `missioncore.sensor-representation-capabilities/v1` as a provider-neutral
+   description of the physical properties admitted for one versioned source
+   representation.
+2. The existing LiDAR evidence profile remains immutable. The capability
+   profile references it by `source_profile_id`; it does not replace or rewrite
+   source evidence.
+3. K1 `lio_pcl` is represented as `registered-map-increment` with
+   `frame-increment` currentness. It admits metric XYZ, metric intensity,
+   map registration and a separate sensor pose.
+4. K1 `lio_pcl` does not admit per-point time, ring/channel, a separate IMU,
+   a shared hardware clock, a native ray model, per-point ray origin, motion
+   compensation, ray clearing, free-space evidence or persistent
+   reconstruction.
+5. Algorithms own a versioned requirements document with accepted
+   representation kinds and required capabilities.
+6. Admission is binary and fail-closed. A missing capability or incompatible
+   representation rejects the algorithm/input pairing; Mission Core never
+   synthesizes a capability to make an integration run.
+7. Successful compatibility admission does not grant command, navigation or
+   safety authority.
+8. `absence_of_endpoints_means_free` is fixed to `false`, and unknown remains
+   unknown. Planner adapters must separately require accepted free-space
+   evidence.
+
+## Consequences
+
+- Endpoint-only occupied marking can consume the K1 registered increment.
+- Projective free-space mappers, ray clearing, TSDF/ESDF integrations and
+  native-scan algorithms reject the K1 profile until a different admitted
+  source supplies their requirements.
+- A future native MID-360 export or synthetic scan receives a separate source
+  and capability profile; it does not upgrade historical K1 recordings.
+- Capability compatibility can be used by workers, provider adapters and LAB
+  manifests without moving product ownership into ROS 2.
+- Track geometry and local occupied/unknown contracts can bind the exact
+  representation profile and preserve the same fail-closed semantics.
+
+## Implementation
+
+- `src/k1link/compute/sensor_representation.py`
+- `src/k1link/compute/e30_review_pack.py`
+- `src/k1link/compute/e30_materialization.py`
+- `src/k1link/web/e30_review_api.py`
+- `apps/control-station/src/core/laboratory/e30Review.ts`
+- `apps/control-station/src/workspaces/E30ReviewWorkspace.tsx`
+- `tests/test_sensor_representation.py`
+- `tests/test_e30_review_pack.py`
+- `tests/test_e30_materialization.py`
+- `apps/control-station/test/e30Review.test.mjs`
+- `docs/16_ARCHITECTURE_AUDIT_EXECUTION_ROADMAP.md`
+
+## References
+
+- ADR 0018: LiDAR evidence before models
+- ADR 0020: Patchwork++ vendor-map boundary
+- ADR 0021: native scan, normalized scan and rolling-map separation
+- `docs/13_LIDAR_WORKER_PRODUCT_AND_ROADMAP.md`