feat(perception): map vegetation provider labels

tests/test_vegetation_mission_policy.py

@@ -8,6 +8,8 @@ import pytest
 from k1link.laboratory.vegetation_mission_policy import (
     VegetationMissionPolicyError,
     load_vegetation_mission_policy,
+    load_vegetation_provider_label_map,
+    map_provider_material,
     resolve_terrain_policy,
 )
 
@@ -21,12 +23,23 @@ CANDIDATE_MANIFEST_PATH = (
     / "perception"
     / "lab-v1-vegetation-candidate-manifest-v1.json"
 )
+PROVIDER_LABEL_MAP_PATH = (
+    REPOSITORY_ROOT
+    / "config"
+    / "perception"
+    / "lab-v1-vegetation-provider-label-map-v1.json"
+)
 
 
 def _policy() -> dict[str, object]:
     return load_vegetation_mission_policy(POLICY_PATH, repository_root=REPOSITORY_ROOT)
 
 
+def _provider_label_map() -> dict[str, object]:
+    policy = _policy()
+    return load_vegetation_provider_label_map(PROVIDER_LABEL_MAP_PATH, policy=policy)
+
+
 def test_presets_are_defaults_and_explicit_mission_rule_wins() -> None:
     policy = _policy()
 
@@ -147,3 +160,65 @@ def test_candidate_manifest_freezes_unique_assets_sources_and_no_authority() ->
     assert manifest["invariants"]["missing_or_unknown_is_free"] is False
     assert manifest["invariants"]["navigation_authority"] is False
     assert manifest["invariants"]["actuation_authority"] is False
+
+
+@pytest.mark.parametrize(
+    ("provider_id", "provider_label", "material"),
+    [
+        ("goose-fine-64", "low_grass", "grass"),
+        ("goose-fine-64", "high_grass", "herbaceous_vegetation"),
+        ("goose-fine-64", "bush", "woody_shrub"),
+        ("goose-fine-64", "tree_trunk", "tree_or_trunk"),
+        ("wildscenes-19", "tree-trunk", "tree_or_trunk"),
+        ("rellis-20", "tree", "tree_or_trunk"),
+    ],
+)
+def test_fine_provider_labels_map_to_separate_material_claims(
+    provider_id: str,
+    provider_label: str,
+    material: str,
+) -> None:
+    assert (
+        map_provider_material(
+            _provider_label_map(),
+            provider_id=provider_id,
+            provider_label=provider_label,
+        )
+        == material
+    )
+
+
+def test_coarse_vegetation_never_becomes_grass_permission() -> None:
+    material = map_provider_material(
+        _provider_label_map(),
+        provider_id="goose-category-12",
+        provider_label="vegetation",
+    )
+    assert material == "vegetation_unknown"
+    decision = resolve_terrain_policy(
+        _policy(),
+        preset_id="offroad",
+        material_class=material,
+        evidence_state="SUPPORTED_GROUND",
+    )
+    assert decision.effective_action == "NO_GO"
+
+
+def test_binary_freespace_and_unmapped_labels_make_no_material_claim() -> None:
+    label_map = _provider_label_map()
+    assert (
+        map_provider_material(
+            label_map,
+            provider_id="orfd-binary-freespace",
+            provider_label="freespace",
+        )
+        is None
+    )
+    assert (
+        map_provider_material(
+            label_map,
+            provider_id="goose-fine-64",
+            provider_label="person",
+        )
+        is None
+    )