feat(simulation): add Worker AI polygon runtime and terrain navigation

2026-09-25 16:40:45 +03:00
parent a7c64e009d
commit f01bd39037
88 changed files with 9918 additions and 108 deletions
@@ -0,0 +1,52 @@
+{
+  "schema_version": "missioncore.ai-polygon-model-profile/v1",
+  "profile_id": "simulation-pinhole-composable-surfaces-cmu-v2",
+  "camera": {
+    "width": 800,
+    "height": 600,
+    "color": "RGB",
+    "projection": "pinhole"
+  },
+  "authority": "virtual-only",
+  "models": [
+    {
+      "id": "ddrnet-goose-pytorch-reference",
+      "image": "sha256:a3b7d22f5d3bfdf2d84444b936c8b01abf8243be652387d7e2024ba7bda587f5",
+      "checkpoint": "D:/NDC_MISSIONCORE/runtime/assets/observatory-portable/lab-v1-static-files-v1/ddrnet-checkpoint.pth",
+      "checkpoint_sha256": "b99c2838051bcd7b092fd3970aa62a77d5c0bbb809c9b9afb2ff4b0ebdaa4ee6",
+      "preprocess": "pinned GOOSE 600-square crop, nearest 512, RGB /255",
+      "runner": "D:/NDC_MISSIONCORE/runtime/assets/observatory-portable/lab-v1-static-files-v1/ddrnet-goose-runner.py",
+      "runner_sha256": "b18ad60f277eea69a240a28f290611b94627fb9707faf1bb3e6e22102dad67c1"
+    },
+    {
+      "id": "rf_detr_large",
+      "image": "sha256:58df7489c3f2276f9591d500a012dee03e23d35543ce3c390b4c001e6bf90794",
+      "checkpoint": "D:/NDC_MISSIONCORE/runtime/experiments/m48t-fixed-detector-20260825T095425Z/triton-models/rf_detr_large/1/model.plan",
+      "checkpoint_sha256": "986399ce706b7380472cf5e473232249fed6e628971d8007f6609e83128d46b8",
+      "preprocess": "full pinhole frame, resize 704x704, ImageNet normalization; no KB4 mask"
+    },
+    {
+      "id": "segformer-b2-ade150",
+      "image": "sha256:f37681beb9feecee991e71a60a68259f15b56b168c939db3c3cb259c322e9536",
+      "checkpoint": "D:/NDC_MISSIONCORE/runtime/simulation/assets/segformer-b2-ade/de01bae28967510f9ddd496c60a969357195400c/pytorch_model.bin",
+      "checkpoint_sha256": "187ca07bea003a5717c63d04ea90b07f33cd033c0ebf44b4b89fce5070d6c8f3",
+      "revision": "de01bae28967510f9ddd496c60a969357195400c",
+      "preprocess": "RGB centre 600-square crop; pinned processor bilinear 512, ImageNet normalization; logits bilinear 512; candidate confidence >=0.55",
+      "config_sha256": "ee7400840fdb1e5045f0b2eba78bf053df8e33a309c4acec31705a48c8cc5c00",
+      "processor_sha256": "8039d1d210abaa7117ad78e58cdfd6141a2ec72c03dae891b3cd76737e422c6c"
+    }
+  ],
+  "labels": "D:/NDC_MISSIONCORE/runtime/assets/observatory-portable/lab-v1-static-files-v1/ddrnet-goose-mapping.csv",
+  "labels_sha256": "88ae319ba5a3877dd3ae0773f693a6a5fdc283934140de9dfaff029108aefd7f",
+  "navigation": {
+    "id": "cmu-terrain-navigation",
+    "image": "sha256:698228d0d378b166ceaf299aa86ab95b5e74179837532f2378c036c7f7621dcc",
+    "upstream_commit": "158e67b31b644ed1e8b06eb1d7f70e183cc62591"
+  },
+  "default_modules": [
+    "simulation-segformer-ade",
+    "simulation-rf-detr",
+    "simulation-cmu-navigation",
+    "simulation-waypoint-mission"
+  ]
+}