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feat(simulation): prefer rover world terrain

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DCCONSTRUCTIONS
2026-08-26 17:17:48 +03:00
parent 1b6131904a
commit ae13ca5946
4 changed files with 38 additions and 6 deletions
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src/k1link/simulation/gaussian_pipeline_gateway.py
+4 -2
View File
@@ -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
+3 -2
View File
@@ -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],