feat(simulation): prefer rover world terrain

src/k1link/simulation/gaussian_pipeline_gateway.py

@@ -18,7 +18,9 @@ import httpx
 TUS_VERSION: Final = "1.0.0"
 BUILD_REQUEST_SCHEMA: Final = "gaussian-pipeline.build-request/v1"
 JOB_SCHEMA: Final = "gaussian-pipeline.job/v1"
-RESULT_SCHEMA: Final = "gaussian-pipeline.build-result/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})
 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"
@@ -356,7 +358,7 @@ class GaussianPipelineGateway:
     def get_result(self, job_id: str) -> dict[str, Any]:
         _safe_id(job_id, "job id")
         result = self._json("GET", f"/v1/jobs/{quote(job_id, safe='')}/result")
-        if result.get("schema_version") != RESULT_SCHEMA or result.get("job_id") != job_id:
+        if result.get("schema_version") not in RESULT_SCHEMAS or result.get("job_id") != job_id:
             raise GaussianPipelineGatewayError("Gaussian result identity does not match")
         _validate_runtime_provenance(result)
         return result

src/k1link/simulation/projects.py

@@ -679,8 +679,9 @@ 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("collision-mesh"),
-            "available": url_for("collision-mesh") is not None,
+            "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,
         },
         "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

@@ -350,7 +350,14 @@ def test_gateway_rejects_symlink_source_and_token(tmp_path: Path) -> None:
         )
 
 
-def test_gateway_submits_tracks_and_imports_digest_bound_artifact(tmp_path: Path) -> None:
+@pytest.mark.parametrize(
+    "result_schema",
+    ["gaussian-pipeline.build-result/v1", "gaussian-pipeline.build-result/v2"],
+)
+def test_gateway_submits_tracks_and_imports_digest_bound_artifact(
+    tmp_path: Path,
+    result_schema: str,
+) -> None:
     artifact = b"preview-sog"
     artifact_sha = hashlib.sha256(artifact).hexdigest()
     job_id = "gsp-20260825200000-deadbeef"
@@ -375,7 +382,7 @@ def test_gateway_submits_tracks_and_imports_digest_bound_artifact(tmp_path: Path
             return httpx.Response(
                 200,
                 json={
-                    "schema_version": "gaussian-pipeline.build-result/v1",
+                    "schema_version": result_schema,
                     "job_id": job_id,
                     "runtime": {
                         "source_revision": "a" * 40,

tests/test_simulation_projects.py

@@ -16,6 +16,7 @@ from k1link.simulation.projects import (
     SimulationProjectConflictError,
     SimulationProjectService,
     SimulationProjectStore,
+    _world_manifest,
 )
 from k1link.web.simulation_projects_api import build_simulation_projects_router
 
@@ -224,6 +225,27 @@ 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:
+    manifest = _world_manifest(
+        "sim-" + "a" * 32,
+        [
+            {
+                "role": "collision-mesh",
+                "logical_path": "collision/scene.collision.glb",
+            },
+            {
+                "role": "rover-terrain-mesh",
+                "logical_path": "rover/terrain.collision.glb",
+            },
+        ],
+    )
+
+    assert manifest["collision"]["available"] is True
+    assert manifest["collision"]["mesh_url"].endswith(
+        "/artifacts/rover/terrain.collision.glb"
+    )
+
+
 def test_service_resumes_a_persisted_provider_job_without_reupload(tmp_path: Path) -> None:
     store = SimulationProjectStore(tmp_path)
     project = store.create(