feat(perception): add recorded replay maturation labs

tests/test_semantic_geometry_fusion.py

@@ -76,6 +76,9 @@ def test_camera_semantic_and_connected_occupied_support_agree() -> None:
     )
     assert support.document["geometry_status"] == "agree"
     assert support.document["range_m"] == pytest.approx(2.0666666667)
+    assert support.document["range_estimate_m"] == pytest.approx(2.0666666667)
+    assert support.document["range_estimate_available"] is True
+    assert support.document["range_support_qualified"] is True
     assert support.document["unknown_is_occupied"] is True
     assert support.document["navigation_or_safety_accepted"] is False
     assert support.occupied_source_indices.tolist() == [0, 1]
@@ -120,8 +123,18 @@ def test_camera_only_and_surface_conflict_remain_explicit() -> None:
         profile=CameraGeometryFusionProfile(),
     )
     assert camera_only.document["geometry_status"] == "single-source-camera"
+    assert camera_only.document["range_m"] is None
+    assert camera_only.document["range_estimate_m"] == pytest.approx(2.0)
+    assert camera_only.document["range_estimate_available"] is True
+    assert camera_only.document["range_support_qualified"] is False
     assert conflict.document["geometry_status"] == "conflict"
+    assert conflict.document["range_m"] is None
+    assert conflict.document["range_estimate_available"] is False
+    assert conflict.document["range_support_qualified"] is False
     assert unknown.document["geometry_status"] == "unknown"
+    assert unknown.document["range_m"] is None
+    assert unknown.document["range_estimate_available"] is False
+    assert unknown.document["range_support_qualified"] is False
 
 
 def test_unclaimed_occupied_component_is_a_separate_geometry_layer() -> None: