fix(perception): stabilize replay body frame

apps/control-station/test/m4ReplayThreat.test.mjs

@@ -54,8 +54,8 @@ test("M4.6 decodes accepted dual-evidence result without physical authority", as
         created_at_utc: "2026-08-05T15:36:01.553Z",
         status: "accepted",
         profile_id: "m4-ravnoves00-virtual-corridor/v1",
-        rig_profile_id: "virtual-handheld-body-1000x600/v1",
-        corridor_profile_id: "ravnoves00-forward-corridor-8m/v1",
+        rig_profile_id: "virtual-base-footprint-1000x600/v2",
+        corridor_profile_id: "ravnoves00-forward-corridor-8m/v2",
         source_result_ids: {
           detector: `m4-detector-replay-${"b".repeat(64)}`,
           geometry: `m4-geometry-replay-${"c".repeat(64)}`,
@@ -71,6 +71,12 @@ test("M4.6 decodes accepted dual-evidence result without physical authority", as
             provider_latency_p95_ms: 19.8,
             provider_latency_max_ms: 194.3,
           },
+          body_frame: {
+            available: 3928,
+            qualified: 3861,
+            rejected: 67,
+            camera_forward_alignment_deg: { p95: 8.439, maximum: 24.252 },
+          },
           reason_counts: { "geometry-only-evidence": 21958 },
         },
         configuration: {
@@ -78,6 +84,11 @@ test("M4.6 decodes accepted dual-evidence result without physical authority", as
           nominal_sensor_height_m: 1.25,
           forward_corridor_m: 8,
           prediction_horizon_seconds: 5,
+          body_frame: {
+            origin: "local-surface-vertical-projection",
+            up: "vendor-slam-map-gravity-axis",
+            forward: "smoothed-slam-trajectory-validated-by-camera-axis",
+          },
         },
         limitations: ["replay only"],
         accepted: true,
@@ -90,7 +101,10 @@ test("M4.6 decodes accepted dual-evidence result without physical authority", as
   assert.equal(result.resultId, resultId);
   assert.equal(result.metrics.evidence.currentMetric, 27299);
   assert.equal(result.metrics.fixtures.criticalFalseNotThreat, 0);
+  assert.equal(result.metrics.bodyFrame.qualified, 3861);
+  assert.equal(result.metrics.bodyFrame.cameraForwardAlignmentDeg.p95, 8.439);
   assert.deepEqual(result.configuration.virtualBodyM, [1, 0.6]);
+  assert.equal(result.configuration.bodyFrame.up, "vendor-slam-map-gravity-axis");
 });
 
 test("M4.6 binds exact CAMERA and metric 3D evidence to one replay frame", async () => {