feat: add RELLIS dataset compatibility smoke

docs/adr/0021-dataset-gateway-representation-boundary.md

@@ -39,6 +39,12 @@ first admitted source because it publishes off-road point-wise semantic and
 instance labels in SemanticKITTI-compatible `XYZI + uint32 label` files. Its
 annotated point-cloud file represents one LiDAR revolution.
 
+The gateway contract is multi-source, not GOOSE-shaped. RELLIS-3D v1.1 is the
+second source: it uses the same lossless SemanticKITTI ingress but keeps a
+separate Ouster OS1 domain, ontology, admission state, ground-target mapping,
+license and result set. Shared format never implies shared calibration,
+mounting height or commercial-use rights.
+
 The gateway:
 
 - preserves the native GOOSE frame before adaptation;
@@ -48,6 +54,10 @@ The gateway:
 - refuses automatic downloads of large archives;
 - admits storage only under `D:\NDC_MISSIONCORE\datasets` or its WSL mirror;
 - never promotes K1 `lio_pcl` to `native-scan`.
+- excludes explicitly ambiguous RELLIS classes through a versioned `ignore`
+  mask instead of silently scoring them as ground or obstacle;
+- exposes the RELLIS `CC-BY-NC-SA-3.0` restriction as research evidence and
+  never treats it as an unrestricted production dependency.
 
 Large-artifact execution remains worker-local. The browser receives only a
 path-free admission manifest and a bounded visualization preview. The canonical
@@ -82,6 +92,8 @@ unavailable rather than inventing timestamps.
 - Until bytes are installed, the UI exposes an explicit empty state. After a
   `frame-ready` worker admission, the same surface becomes an interactive
   source/remission/ground-truth viewer without changing the representation.
+- A bounded `smoke-ready` source may prove reader, axes, ontology and mapping
+  compatibility without claiming full-dataset or algorithm qualification.
 - Dataset and device inputs can share downstream algorithms only after their
   normalized contracts match.
 - Sensor adaptation may change range, FOV, point density, noise and dropout for
@@ -115,6 +127,7 @@ unavailable rather than inventing timestamps.
 - [GOOSE MuCAR-3 sensor setup](https://goose-dataset.de/docs/mucar3/)
 - [GOOSE paper and dimensioned sensor schematic](https://arxiv.org/pdf/2310.16788)
 - [Patchwork++ v1.4.1](https://github.com/url-kaist/patchwork-plusplus/tree/v1.4.1)
+- [RELLIS-3D official repository](https://github.com/unmannedlab/RELLIS-3D)
 - [Livox ROS Driver 2 point formats](https://github.com/Livox-SDK/livox_ros_driver2)
 - [Livox LIO motion-distortion handling](https://github.com/Livox-SDK/LIO-Livox)
 - [ROS FilterDeskew timestamp requirement](https://docs.ros.org/en/noetic/api/mp2p_icp/html/classmp2p__icp__filters_1_1FilterDeskew.html)