feat(simulation): load combined rover collision

src/k1link/simulation/gaussian_pipeline_gateway.py

@@ -19,8 +19,13 @@ TUS_VERSION: Final = "1.0.0"
 BUILD_REQUEST_SCHEMA: Final = "gaussian-pipeline.build-request/v1"
 JOB_SCHEMA: Final = "gaussian-pipeline.job/v1"
 LEGACY_RESULT_SCHEMA: Final = "gaussian-pipeline.build-result/v1"
-RESULT_SCHEMA: Final = "gaussian-pipeline.build-result/v2"
-RESULT_SCHEMAS: Final = frozenset({LEGACY_RESULT_SCHEMA, RESULT_SCHEMA})
+LEGACY_ROVER_RESULT_SCHEMA: Final = "gaussian-pipeline.build-result/v2"
+RESULT_SCHEMA: Final = "gaussian-pipeline.build-result/v3"
+RESULT_SCHEMAS: Final = frozenset({
+    LEGACY_RESULT_SCHEMA,
+    LEGACY_ROVER_RESULT_SCHEMA,
+    RESULT_SCHEMA,
+})
 CAPABILITIES_SCHEMA: Final = "gaussian-pipeline.capabilities/v1"
 ARCHIVE_INGEST_REQUEST_SCHEMA: Final = "gaussian-pipeline.archive-ingest-request/v1"
 ARCHIVE_INGEST_SCHEMA: Final = "gaussian-pipeline.archive-ingest/v1"

src/k1link/simulation/projects.py

@@ -671,6 +671,11 @@ def _world_manifest(project_id: str, artifacts: list[dict[str, Any]]) -> dict[st
         )
         return f"/api/v1/simulation-worlds/projects/{project_id}/artifacts/{encoded}"
 
+    collision_mesh_url = (
+        url_for("rover-collision-mesh")
+        or url_for("rover-terrain-mesh")
+        or url_for("collision-mesh")
+    )
     return {
         "schema_version": WORLD_MANIFEST_SCHEMA,
         "project_id": project_id,
@@ -679,9 +684,8 @@ def _world_manifest(project_id: str, artifacts: list[dict[str, Any]]) -> dict[st
             "streamed_sog_url": url_for("stream-manifest"),
         },
         "collision": {
-            "mesh_url": url_for("rover-terrain-mesh") or url_for("collision-mesh"),
-            "available": (url_for("rover-terrain-mesh") or url_for("collision-mesh"))
-            is not None,
+            "mesh_url": collision_mesh_url,
+            "available": collision_mesh_url is not None,
         },
         "transforms": {
             "world_from_visual": [1, 0, 0, 0, 0, -1, 0, 0, 0, 0, -1, 0, 0, 0, 0, 1],

tests/test_gaussian_pipeline_gateway.py

@@ -352,7 +352,11 @@ def test_gateway_rejects_symlink_source_and_token(tmp_path: Path) -> None:
 
 @pytest.mark.parametrize(
     "result_schema",
-    ["gaussian-pipeline.build-result/v1", "gaussian-pipeline.build-result/v2"],
+    [
+        "gaussian-pipeline.build-result/v1",
+        "gaussian-pipeline.build-result/v2",
+        "gaussian-pipeline.build-result/v3",
+    ],
 )
 def test_gateway_submits_tracks_and_imports_digest_bound_artifact(
     tmp_path: Path,

tests/test_simulation_projects.py

@@ -225,7 +225,7 @@ def test_service_materializes_world_manifest_and_deletes_both_copies(tmp_path: P
     assert provider.deleted == ["gsp-20260826000000-deadbeef"]
 
 
-def test_world_manifest_prefers_seed_connected_rover_terrain() -> None:
+def test_world_manifest_prefers_combined_rover_collision_world() -> None:
     manifest = _world_manifest(
         "sim-" + "a" * 32,
         [
@@ -237,12 +237,16 @@ def test_world_manifest_prefers_seed_connected_rover_terrain() -> None:
                 "role": "rover-terrain-mesh",
                 "logical_path": "rover/terrain.collision.glb",
             },
+            {
+                "role": "rover-collision-mesh",
+                "logical_path": "rover/scene.collision.glb",
+            },
         ],
     )
 
     assert manifest["collision"]["available"] is True
     assert manifest["collision"]["mesh_url"].endswith(
-        "/artifacts/rover/terrain.collision.glb"
+        "/artifacts/rover/scene.collision.glb"
     )