fix(perception): stabilize replay body frame

config/perception/m4-replay-threat-v2.json

@@ -1,7 +1,7 @@
 {
-  "schema_version": "missioncore.replay-threat-profile/v1",
-  "profile_id": "m4-ravnoves00-virtual-corridor/v1",
-  "provider_id": "dual-evidence-replay-threat/v1",
+  "schema_version": "missioncore.replay-threat-profile/v2",
+  "profile_id": "m4-ravnoves00-virtual-corridor/v2",
+  "provider_id": "dual-evidence-replay-threat/v2",
   "source": {
     "source_id": "RAVNOVES00",
     "session_id": "20260720T065719Z_viewer_live",
@@ -17,10 +17,21 @@
   "calibration": {
     "calibration_id": "camera-1-kb4-05f3ad9b",
     "content_identity_sha256": "05f3ad9b38b3a4fc95388a8ec83da83c745e217709e51787b3d5aad0969f6fa9",
-    "usage": "projection-binding-only"
+    "usage": "projection-and-forward-axis-binding"
+  },
+  "body_frame": {
+    "schema_version": "missioncore.replay-body-frame-profile/v1",
+    "origin": "local-surface-vertical-projection",
+    "up": "vendor-slam-map-gravity-axis",
+    "forward": "smoothed-slam-trajectory-validated-by-camera-axis",
+    "trajectory_half_window_frames": 20,
+    "minimum_trajectory_displacement_m": 0.2,
+    "maximum_camera_route_misalignment_deg": 25.0,
+    "maximum_sensor_height_deviation_m": 0.45,
+    "maximum_surface_slope_deg": 10.0
   },
   "virtual_rig": {
-    "profile_id": "virtual-handheld-body-1000x600/v1",
+    "profile_id": "virtual-base-footprint-1000x600/v2",
     "body_length_m": 1.0,
     "body_width_m": 0.6,
     "lidar_reference": "virtual-body-center",
@@ -28,7 +39,7 @@
     "physical_mount_claimed": false
   },
   "corridor": {
-    "profile_id": "ravnoves00-forward-corridor-8m/v1",
+    "profile_id": "ravnoves00-forward-corridor-8m/v2",
     "forward_length_m": 8.0,
     "rear_margin_m": 0.5,
     "lateral_clearance_m": 0.2,