docs: make K1 realtime map the primary lidar source

docs/10_EXTERNAL_PERCEPTION_WORKER.md

@@ -6,6 +6,9 @@ The LiDAR-native extension is governed by
 successfully is not evidence that its LiDAR assumptions are satisfied. In
 particular, the accepted E10 replay pack v1 has no intensity, and the current K1
 stream is a vendor map increment rather than an unregistered sensor sweep.
+It is nevertheless the primary passively received real-time K1 source. The
+worker must adapt to its declared representation rather than require another
+physical scanner or mutate the K1 acquisition path.
 
 `missioncore.lidar-replay-pack/v2` closes the field-retention gap without
 rewriting v1. Its manifest binds exact raw/metadata evidence, logical point/pose
@@ -21,8 +24,10 @@ host latency and algorithm disagreement. The first official Patchwork++ v1.4.1
 run is diagnostic-only: current K1 evidence is a vendor-map increment, not the
 sensor-centric scan and physical-height contract Patchwork++ expects. The
 read-only `/api/v1/lidar/ground-benchmarks` surface therefore publishes
-`production_promotion=false` until an independent annotation generation or an
-admitted raw scan closes the input gate.
+`production_promotion=false`. GOOSE and full RELLIS qualification have since
+validated the benchmark harness and rejected universal Patchwork++ promotion;
+they do not change the K1 representation. Acquiring a raw K1 scan is not part
+of the current roadmap.
 
 The companion read-only
 `/api/v1/lidar/ground-benchmarks/{benchmark_id}/frames/{frame_index}` endpoint
@@ -44,27 +49,29 @@ instead of synthesizing a value.
 
 Static K1 3.0.2 firmware evidence confirms that the appliance internally uses
 a Livox MID-360 point/IMU path with richer timestamp/ring semantics and a
-configured MQTT point-cloud downsample factor of four. This creates a concrete
-next integration target—an admitted onboard export or bag contract—but does
-not change the authority or input acceptance of existing `lio_pcl` recordings.
-The 1.27 m operator-height profile is likewise explicit and reproducible, but
-remains `operator-estimated` rather than runtime-calibrated.
+configured MQTT point-cloud downsample factor of four. This explains the
+representation boundary but does not authorize an onboard export, firmware
+change, internal-topic invocation or new K1 command. The worker consumes only
+admitted report streams or immutable recordings made from them. The `1.27 m`
+operator-height profile remains a reproducible historical diagnostic and must
+never become a runtime ground constant.
 
 ## Boundary
 
 ```text
 K1
   -> XGRIDS device plugin / Mission Core Edge
-  -> authoritative raw session on Mac
+  -> authoritative lossless report-stream session on Mac
   -> bounded missioncore.compute-job/v1
   -> replaceable GPU worker / Triton
   -> content-addressed missioncore.compute-result/v1
   -> optional validated Rerun derived layer
 ```
 
-The GPU worker cannot discover, provision, start or stop a K1. It receives an
-observation package and returns derived observations. The Mac archive is never
-rewritten when a job is prepared or a result is received.
+The GPU worker cannot discover, provision, start or stop a K1. LiDAR perception
+experiments are subscribe/replay-only and invoke no K1 application command. The
+worker receives an observation package and returns derived observations. The
+Mac archive is never rewritten when a job is prepared or a result is received.
 
 ## Recorded camera job v1