feat: add RELLIS dataset compatibility smoke

docs/14_LIDAR_DATASET_GATEWAY.md

@@ -19,12 +19,13 @@ datasets and future real onboard sensors.
 
 Implemented now:
 
-- `missioncore.dataset-gateway-catalog/v2`, exposed read-only at
+- multi-source `missioncore.dataset-gateway-catalog/v3`, exposed read-only at
   `GET /api/v1/lidar/dataset-gateway`;
 - path-free `missioncore.dataset-admission/v1` worker evidence instead of a
   static React status;
-- a bounded `missioncore.dataset-native-scan-preview/v1`, exposed read-only at
-  `GET /api/v1/lidar/dataset-gateway/preview`;
+- bounded `missioncore.dataset-native-scan-preview/v1` (GOOSE) and `/v2`
+  (RELLIS smoke) artifacts, selected by source at
+  `GET /api/v1/lidar/dataset-gateway/preview?source_id=...`;
 - explicit `native-scan`, `normalized-scan` and `rolling-local-map`
   representations;
 - a lossless GOOSE/SemanticKITTI frame reader for little-endian float32 XYZI
@@ -39,6 +40,10 @@ Implemented now:
   `Открыть` action;
 - one admitted GOOSE validation frame with source colors, normalized remission
   and an independent ground-truth view;
+- a pinned RELLIS-3D v1.1 compatibility smoke using the official Ouster example
+  frame `000104`, its native `131,072` XYZI points, point-aligned labels,
+  official ontology colors, explicit FLU sensor axes and a versioned
+  `ground / non-ground / ignore` evaluation policy;
 - a published, dimensioned MuCAR-3/VLS-128 Patchwork++ input profile:
   sensor frame `x-forward / y-left / z-up`, physical height `2.24 m`, native
   one-revolution scan and explicit absence of deskew/full vehicle TF claims;
@@ -54,6 +59,8 @@ Not implemented:
 - no implicit coordinate conversion;
 - no fake ring/timestamp reconstruction for K1 MQTT evidence;
 - no model training or production promotion;
+- no full RELLIS Ouster archive, pose set, algorithm comparison or ROS bag
+  admission yet;
 - no rolling-map implementation yet.
 
 ## Product surface boundary
@@ -73,10 +80,11 @@ The gateway is not part of device quality diagnostics.
   backend evidence contract. They are not a second operator navigation item
   and are not presented as vehicle motion.
 
-Before real dataset bytes exist, the catalog explains the blocked storage gate
-and keeps `Открыть датасет` disabled. It becomes available
-only after the worker manifest says `frame-ready` and the bounded preview passes
-its own point-alignment and safety checks.
+Before compatible source evidence exists, the catalog explains the blocked
+storage gate and keeps `Открыть датасет` disabled. GOOSE becomes available only
+after the worker manifest says `frame-ready`; RELLIS becomes available at
+`smoke-ready` only for the pinned official example. Both bounded previews must
+pass their own identity, point-alignment and safety checks.
 
 ## Why public recordings look different
 
@@ -191,8 +199,53 @@ time; TTL/dynamic filtering prevents stale ghosts.
 - [x] Patchwork++ one-frame accuracy measured against ground truth.
 - [x] Current/Patchwork++ validation-split gate qualified.
 - [x] Sensor-degradation matrix qualified.
+- [x] Dataset catalog accepts more than one independently identified source.
+- [x] Official RELLIS Ouster example passes the shared SemanticKITTI reader.
+- [x] RELLIS axes, ontology colors and versioned ground-target/ignore mapping
+  are visible in the same Dataset workflow.
+- [ ] Full RELLIS Ouster SemanticKITTI scans, labels and poses admitted on
+  worker D.
+- [ ] Current/Patchwork++ RELLIS comparison qualified without obstacle loss.
 - [ ] Rolling local map with pose/TTL/dynamic policy qualified.
 
+## RELLIS S0 compatibility evidence
+
+RELLIS is the independent second-source check, not extra decoration in the
+catalog. GOOSE and RELLIS share the ingress format and viewer, but retain
+separate source identity, sensor domain, ontology, licensing and results.
+
+The pinned smoke input is the official repository example at commit
+`c17a118fcaed1559f03cc32cc3a91dedc557f8b8`:
+
+- point file: `utils/example/000104.bin`;
+- label file: `utils/example/000104.label`;
+- source points: `131,072`;
+- point SHA-256:
+  `ed81a9c3636d55b17d78058c72545d5d22419beecf174d50596d23ae178752af`;
+- label SHA-256:
+  `9b8c65b710873e931af4ac6dfc7d3dd2298696514ab721e50300bd55ad5b634e`;
+- official ontology config SHA-256:
+  `573379a232ac561805987466c391a61fd5ad338be7fb9c4c2842f3f28067e0ad`;
+- bounded browser preview: `20,000` deterministic even-index points;
+- coordinate frame: right-handed, `x` forward, `y` left, `z` up; no vehicle
+  transform, pose registration or deskew is claimed;
+- license: `CC-BY-NC-SA-3.0`; this is a research qualification source, not an
+  unrestricted commercial runtime dependency.
+
+Mission Core ground policy v1 treats `dirt`, `grass`, `asphalt`, `concrete` and
+`mud` as ground; clear structures, vegetation, people, vehicles and rubble as
+non-ground; and `void`, `water`, `sky`, generic `object` and `puddle` as
+`ignore`. The ignore set is excluded from future metrics instead of being
+silently counted as either free ground or obstacle. This mapping is a Mission
+Core evaluation decision, not an upstream RELLIS claim.
+
+The smoke closes reader, alignment, axes, palette and mapping compatibility
+only. The next gate admits the `14 GB` Ouster SemanticKITTI scans plus the
+`174 MB` labels and `174 MB` poses to D-only worker storage. Full ROS bags are
+not needed for the ground cross-check. Patchwork++ may be compared only after a
+physical Ouster mounting-height profile is evidenced; no height is inferred
+from the example cloud.
+
 ## First GOOSE admission evidence
 
 - worker root: canonical D-only root, path never exposed by the HTTP API;