feat(lab): stabilize autonomous TGS playback

2026-08-27 20:34:20 +03:00
parent c8593207d3
commit 95a1ef5057
26 changed files with 3326 additions and 253 deletions
@@ -0,0 +1,107 @@
+{
+  "schema_version": "missioncore.m49-physical-safety-shadow-profile/v1",
+  "profile_id": "m49-mission-core-rover-physical-safety-shadow/v0",
+  "status": "planning-only-unqualified",
+  "vehicle": {
+    "source": "operator-supplied-2026-08-27-unverified",
+    "body_length_m": 1.0,
+    "body_width_m": 0.8,
+    "body_height_m": 0.4,
+    "ground_clearance_m": 0.15,
+    "nominal_mass_kg": 100.0,
+    "mass_qualification": "estimate-not-weighed",
+    "provisional_centered_footprint_body_xy_m": [
+      [0.5, 0.4],
+      [0.5, -0.4],
+      [-0.5, -0.4],
+      [-0.5, 0.4]
+    ],
+    "nominal_speed_mps": 0.2777777778,
+    "maximum_operating_speed_mps": 0.5555555556,
+    "drive": {
+      "motor_count": 2,
+      "rated_power_per_motor_w": 500.0,
+      "motor_per_side": true,
+      "steering_model": "unqualified-likely-differential"
+    }
+  },
+  "unresolved_physical_inputs": [
+    "measured-mass-and-center-of-gravity",
+    "wheel-diameter-and-width",
+    "wheelbase-track-and-overhangs",
+    "qualified-base-link-origin",
+    "controller-braking-and-loss-of-power-behavior",
+    "measured-stopping-envelope",
+    "maximum-step-slope-and-side-slope",
+    "lidar-camera-to-body-extrinsics",
+    "negative-obstacle-sensor-coverage"
+  ],
+  "terrain_evidence": {
+    "accepted_baseline_profile": "m49-tgs-full-shadow-v1.json",
+    "accepted_baseline_cell_size_m": 0.45,
+    "baseline_mutation_allowed": false,
+    "challenger_cell_sizes_m": [0.15, 0.1],
+    "challenger_radius_m": 12.0,
+    "missing_support_policy": "stop-never-free",
+    "required_states": [
+      "SUPPORTED",
+      "RIGID_OR_UNKNOWN_OBSTACLE",
+      "NEGATIVE_OR_UNSUPPORTED",
+      "VEGETATION_UNKNOWN",
+      "VEGETATION_POTENTIALLY_TRAVERSABLE",
+      "VEGETATION_WITH_RIGID_GEOMETRY"
+    ]
+  },
+  "operator_visual": {
+    "host_profile": "14-inch-2023-macbook-pro-18-gib",
+    "worker_role": "realtime-only",
+    "lab_artifact_generation": "local-sequential-offline-or-imported-sealed",
+    "lab_build_may_take_longer_than_source_duration": true,
+    "source_pace_hz": 10.0,
+    "render_policy": "on-demand-with-interaction-damping",
+    "transport": "sealed-local-binary-chunks-no-per-cell-json",
+    "worker_runtime_dependency": false,
+    "sealed_artifact_required": true,
+    "offline_worker_open_required": true,
+    "full_session_high_resolution_preload_allowed": false,
+    "playback_buffer": {
+      "chunk_frame_count": 32,
+      "startup_prebuffer_chunk_count": 2,
+      "startup_prebuffer_seconds": 6.4,
+      "resident_chunk_count_max": 3,
+      "resident_window_seconds_max": 9.6,
+      "forward_prefetch_chunk_count": 1,
+      "backward_seek_policy": "load-target-and-next-from-sealed-local-artifact"
+    },
+    "lod": {
+      "safety_computation_reduced_by_visual_lod": false,
+      "near_field_radius_m": 4.0,
+      "near_field_cell_size_m": 0.15,
+      "mid_field_radius_m": 8.0,
+      "mid_field_cell_size_m": 0.3,
+      "far_field_radius_m": 12.0,
+      "far_field_cell_size_m": 0.45,
+      "paused_active_frame_full_resolution_available": true
+    },
+    "acceptance_budget": {
+      "main_thread_frame_prepare_p95_ms_max": 10.0,
+      "webgl_render_submit_p95_ms_target": 16.7,
+      "webgl_render_submit_p95_ms_max": 33.3,
+      "evidence_to_visible_p95_ms_max": 100.0,
+      "incremental_resident_memory_mib_max": 256.0,
+      "post_warmup_memory_growth_mib_max": 32.0,
+      "long_task_over_50ms_count_max": 0,
+      "webgl_context_loss_count_max": 0,
+      "worker_unavailable_open_failure_count_max": 0,
+      "worker_request_count_during_lab_open_max": 0,
+      "worker_request_count_during_lab_build_max": 0
+    }
+  },
+  "authority": {
+    "commands_enabled": false,
+    "navigation_accepted": false,
+    "safety_accepted": false,
+    "actuation_accepted": false,
+    "physical_test_accepted": false
+  }
+}