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feat(simulation): load combined rover collision

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DCCONSTRUCTIONS
2026-08-26 17:50:37 +03:00
parent ae13ca5946
commit 2e20ca7777
4 changed files with 25 additions and 8 deletions
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src/k1link/simulation/gaussian_pipeline_gateway.py
+7 -2
View File
@@ -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
+7 -3
View File
@@ -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],