feat(perception): seal M4.8S reference graph replay

2026-08-25 16:44:26 +03:00
parent 33cef2fdea
commit 05590867b7
12 changed files with 2578 additions and 1 deletions
@@ -0,0 +1,95 @@
+{
+  "schema_version": "missioncore.reference-perception-graph-config/v2",
+  "graph_id": "reference-perception-graph/v2",
+  "source_profile_id": "m4-ravnoves00-recorded-realtime/v1",
+  "providers": [
+    {
+      "role": "source",
+      "provider_id": "ravnoves00-recorded-source/v1",
+      "version": "1.0.0",
+      "revision": "m4-ravnoves00-recorded-realtime/v1",
+      "sha256": "ea10359339e6cce31b5780a2710299771cab7cc0c1c2a2b56a1621f786b31fa8"
+    },
+    {
+      "role": "detector",
+      "provider_id": "triton-rf-detr-large-coco-risk-fp16-shadow/v0",
+      "version": "0.1.0",
+      "revision": "rf-detr-large-coco-704-trt11-fp16-risk-shadow/v0",
+      "sha256": "0c307fd2d19cedd2c9267b6be2effdce82161a719a742f315fcd7a76f7061b08"
+    },
+    {
+      "role": "geometry",
+      "provider_id": "ravnoves00-geometry-association/v1",
+      "version": "1.0.0",
+      "revision": "m4-ravnoves00-e29-e32-geometry/v1",
+      "sha256": "cc666c9389a5e221957faddec89584709b66918d14abaf646f1832e001421999"
+    },
+    {
+      "role": "temporal",
+      "provider_id": "bounded-spatial-temporal-layer/v1",
+      "version": "1.0.0",
+      "revision": "m4-bounded-temporal-motion/v1",
+      "sha256": "7130eaee24a95c7d888bf7598010e03e129e1c3ac5b34bcd8401015ff4244b39"
+    },
+    {
+      "role": "motion",
+      "provider_id": "class-independent-motion-estimator/v1",
+      "version": "1.0.0",
+      "revision": "m4-bounded-temporal-motion/v1",
+      "sha256": "7130eaee24a95c7d888bf7598010e03e129e1c3ac5b34bcd8401015ff4244b39"
+    },
+    {
+      "role": "rolling",
+      "provider_id": "rolling-local-obstacle-map/v1",
+      "version": "1.0.0",
+      "revision": "ravnoves00-rolling-local-obstacle-map/v1",
+      "sha256": "f7e3315eaf6ffaf3aee1e04913933812092cf82bbcc9984c1a6fa2d9250e6784"
+    },
+    {
+      "role": "threat",
+      "provider_id": "dual-evidence-replay-threat/v3",
+      "version": "3.0.0",
+      "revision": "m4-ravnoves00-virtual-corridor/v3",
+      "sha256": "8c3a5aa837da1f028f5998fb504a1381f9b2b68de6420a32160410b6dc0887c7"
+    }
+  ],
+  "queues": [
+    {
+      "stage_id": "detector",
+      "capacity": 2,
+      "deadline_ns": 1000000000,
+      "terminal_timeout_ns": 90000000000
+    },
+    {
+      "stage_id": "geometry",
+      "capacity": 2,
+      "deadline_ns": 1500000000,
+      "terminal_timeout_ns": 90000000000
+    },
+    {
+      "stage_id": "temporal",
+      "capacity": 2,
+      "deadline_ns": 1750000000,
+      "terminal_timeout_ns": 90000000000
+    },
+    {
+      "stage_id": "rolling",
+      "capacity": 2,
+      "deadline_ns": 2000000000,
+      "terminal_timeout_ns": 90000000000
+    },
+    {
+      "stage_id": "threat",
+      "capacity": 2,
+      "deadline_ns": 2250000000,
+      "terminal_timeout_ns": 90000000000
+    }
+  ],
+  "authority": {
+    "mode": "replay-simulated",
+    "physical_live": false,
+    "commands_enabled": false,
+    "actuation_allowed": false,
+    "navigation_or_safety_accepted": false
+  }
+}