feat(perception): qualify world-frame motion tracking

src/k1link/device_plugins/xgrids_k1/cli.py

@@ -22,6 +22,7 @@ from k1link.compute import (
     publish_e21_lab_instance,
     publish_e22_lab_instance,
     publish_e23_lab_instance,
+    publish_e24_lab_instance,
     publish_integrated_lab_instance,
 )
 from k1link.device_plugins.xgrids_k1.analyze import (
@@ -581,6 +582,80 @@ def publish_e23_lab(
     )
 
 
+@lab_app.command("publish-e24")
+def publish_e24_lab(
+    result: Annotated[
+        Path,
+        typer.Option(
+            exists=True,
+            file_okay=False,
+            readable=True,
+            resolve_path=True,
+            help="Accepted full-session integrated result used as the E24 source.",
+        ),
+    ],
+    profile: Annotated[
+        Path,
+        typer.Option(
+            exists=True,
+            dir_okay=False,
+            readable=True,
+            resolve_path=True,
+            help="Bounded E24 world-motion profile.",
+        ),
+    ],
+    benchmark: Annotated[
+        Path,
+        typer.Option(
+            exists=True,
+            dir_okay=False,
+            readable=True,
+            resolve_path=True,
+            help="Operator-anchored E24 motion benchmark.",
+        ),
+    ],
+    session_id: Annotated[
+        str,
+        typer.Option("--session-id", help="New immutable LAB session id."),
+    ],
+    lab_id: Annotated[
+        str,
+        typer.Option("--lab-id", help="LAB marker, for example 'LAB E24'."),
+    ],
+    display_name: Annotated[
+        str,
+        typer.Option("--display-name", help="Operator-facing saved-session title."),
+    ],
+) -> None:
+    """Build and publish a bounded world-frame motion-tracking run."""
+
+    repository_root = Path(__file__).resolve().parents[4]
+    try:
+        published = publish_e24_lab_instance(
+            repository_root=repository_root,
+            source_result_root=result,
+            profile_path=profile,
+            benchmark_path=benchmark,
+            lab_session_id=session_id,
+            lab_id=lab_id,
+            display_name=display_name,
+        )
+    except (OSError, SessionIntegrityError, RuntimeError, ValueError) as exc:
+        console.print(f"[red]E24 LAB publication failed:[/red] {exc}")
+        raise typer.Exit(code=2) from exc
+    metrics = published.build.report["metrics"]
+    console.print(
+        "[green]E24 LAB instance published.[/green] "
+        f"session={published.binding.session_id}; "
+        f"source={published.binding.source_session_id}; "
+        f"result={published.binding.result_id}; "
+        f"benchmark={metrics['benchmark']['passed_events']}/"
+        f"{metrics['benchmark']['total_events']}; "
+        f"p95={metrics['runtime']['world_motion_frame_processing_ms']['p95']:.3f}ms; "
+        "source_payloads_mutated=false"
+    )
+
+
 @app.command("serve")
 def serve_console(
     port: Annotated[