feat(perception): audit E36 second-source eligibility

2026-07-27 18:27:40 +03:00
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+# E36 source catalog admission audit
+
+Date: 2026-07-27
+
+Status: blocked — no eligible second mounted real source
+
+Immutable audit:
+`e36-source-catalog-audit-c5a7b259f043c0a4f3be38f869af1e675dfaa43743e45fd4f43fac166d07f849`
+
+This is an engineering admission result, not a LAB E36 run. No transfer replay,
+LAB catalog entry or interface was published.
+
+## Question
+
+Does the current Mission Core source catalog contain a second real K1 capture
+on which the accepted E32–E35 pipeline can run unchanged?
+
+The gate freezes:
+
+- E31 source qualification
+  `e31-source-qualification-b2460a5eb143688c7eea6821b2277e13aea79868abe81d83f7e78548c119159a`;
+- E32 TrackGeometry
+  `e32-track-geometry-a14ca0e7fb3850ca0dfa3c41634e1b490a2d58ab74d101afc6d6921fbdb0e6fd`;
+- E33 worker shadow
+  `e33-worker-shadow-05cc0bb264410fd49536df90e94067ac39731aff0322a8873700d40008a8bb3a`;
+- E34 temporal occupied layer
+  `e34-temporal-occupied-8d9abb3f2cc072cfdbb16cc4e55798e05c35a0abe0b8f691096770e091573a73`;
+- E35 degradation recovery
+  `e35-degradation-recovery-82bdbd5c5bfde6d932737f077153c3a8472c993c343fcbe8a207c39bfa2a6288`.
+
+Retuning is forbidden.
+
+## Admission rules
+
+A candidate must have all of the following:
+
+1. a distinct ready K1 source session;
+2. camera, point-cloud and trajectory modalities;
+3. at least 60 seconds of contiguous camera evidence;
+4. an exact host-time identity;
+5. a hashed physical device identity;
+6. a calibration identity bound to that `source_session_id`;
+7. a physical mount identity bound to that `source_session_id`.
+
+Missing evidence fails closed. A later calibration snapshot or assumed mount
+cannot be silently transferred to an earlier capture.
+
+## Catalog result
+
+Eleven physical source rows were audited.
+
+| Source | Camera/LiDAR/pose/time | Longest camera window | Calibration bound | Mount bound | Decision |
+| --- | --- | ---: | --- | --- | --- |
+| RAVNOVES00 | yes | 448.8 s | qualified through E31 | unavailable | baseline, not a candidate |
+| TEST007 | yes | 206.073 s | no | no | closest candidate; blocked |
+| CAM_REC_TEST | yes | 22.884 s | no | no | blocked |
+| TEST009 | no camera | — | no | no | blocked |
+| Seven legacy sources | no accepted camera package | — | no | no | blocked |
+
+TEST007 is a substantive candidate, not an empty recording. Its accepted source
+package contains a sealed 2,061-frame camera epoch plus synchronous point-cloud,
+pose and host-time evidence. Device-status evidence hashes to the same physical
+K1 identity as RAVNOVES00. That proves the device identity, but it does not
+prove which calibration and physical mount applied when TEST007 was recorded.
+
+The two later factory-calibration snapshots have the same device identity and
+calibration content, but neither manifest names TEST007 as its source session.
+No source-bound mount profile, body transform or mount identity was found.
+
+## Decision
+
+`eligible_source_count = 0`.
+
+E36 replay is not authorized. The exact remaining blockers for TEST007 are:
+
+- `calibration-bound-to-source-session`;
+- `mount-bound-to-source-session`.
+
+The audit explicitly keeps these actions false:
+
+- empty LAB publication;
+- profile retuning;
+- public-dataset substitution;
+- automatic new capture;
+- command, navigation or safety authority.
+
+## Reproduction
+
+```bash
+PYTHONPATH=src .venv/bin/python \
+  experiments/perception/run_e36_source_catalog_audit.py \
+  --profile experiments/perception/e36_second_source_eligibility_profile.json \
+  --inventory experiments/perception/e36_source_catalog_inventory_2026-07-27.json \
+  --output-root .runtime/compute-experiments/e36/source-audits
+```
+
+Exit code `3` means the audited catalog is valid but the transfer gate is
+blocked. Invalid profile, inventory or artifact integrity fails separately.
+
+## Next admissible step
+
+Search only primary evidence for a source-scoped TEST007 calibration and mount
+binding. If both can be proven, publish those bindings as immutable provenance,
+rerun this admission audit and then package E32–E35 unchanged for transfer.
+
+If they cannot be proven, A9 remains blocked until an operator separately
+authorizes a new capture with calibration and mount identities recorded at
+acquisition time.
@@ -0,0 +1,34 @@
+{
+  "authority": {
+    "commands_enabled": false,
+    "navigation_or_safety_accepted": false,
+    "transfer_replay_authorized": false
+  },
+  "baseline": {
+    "frozen_upstream": {
+      "e31": "e31-source-qualification-b2460a5eb143688c7eea6821b2277e13aea79868abe81d83f7e78548c119159a",
+      "e32": "e32-track-geometry-a14ca0e7fb3850ca0dfa3c41634e1b490a2d58ab74d101afc6d6921fbdb0e6fd",
+      "e33": "e33-worker-shadow-05cc0bb264410fd49536df90e94067ac39731aff0322a8873700d40008a8bb3a",
+      "e34": "e34-temporal-occupied-8d9abb3f2cc072cfdbb16cc4e55798e05c35a0abe0b8f691096770e091573a73",
+      "e35": "e35-degradation-recovery-82bdbd5c5bfde6d932737f077153c3a8472c993c343fcbe8a207c39bfa2a6288"
+    },
+    "source_session_id": "20260720T065719Z_viewer_live"
+  },
+  "eligibility": {
+    "minimum_contiguous_camera_seconds": 60.0,
+    "require_device_identity": true,
+    "require_host_time_identity": true,
+    "require_session_bound_calibration": true,
+    "require_session_bound_mount": true,
+    "required_modalities": [
+      "point-cloud",
+      "trajectory",
+      "video"
+    ],
+    "required_origin": "xgrids-k1.viewer-live.evidence",
+    "required_status": "ready",
+    "retuning_allowed": false
+  },
+  "profile_id": "e36-second-mounted-real-source/v1",
+  "schema_version": "missioncore.e36-source-eligibility-profile/v1"
+}
@@ -0,0 +1,217 @@
+{
+  "catalog_audited_at_utc": "2026-07-27T15:20:47Z",
+  "schema_version": "missioncore.e36-source-catalog-inventory/v1",
+  "sources": [
+    {
+      "calibration_binding": null,
+      "camera": null,
+      "device_identity": null,
+      "display_name": "20260715T192051Z_viewer_live",
+      "duration_seconds": 1915.012314,
+      "host_time_identity_sha256": null,
+      "modalities": [
+        "point-cloud",
+        "trajectory"
+      ],
+      "mount_binding": null,
+      "origin": "legacy-viewer-live",
+      "raw_transport_sha256": "ace976ddfc6dd5059531167fa7b31705d62641d21dd7cc5ce145ceb49a8c51a4",
+      "session_id": "20260715T192051Z_viewer_live",
+      "status": "interrupted"
+    },
+    {
+      "calibration_binding": null,
+      "camera": null,
+      "device_identity": null,
+      "display_name": "20260715T222341Z_viewer_live",
+      "duration_seconds": null,
+      "host_time_identity_sha256": null,
+      "modalities": [],
+      "mount_binding": null,
+      "origin": "legacy-viewer-live",
+      "raw_transport_sha256": null,
+      "session_id": "20260715T222341Z_viewer_live",
+      "status": "failed"
+    },
+    {
+      "calibration_binding": null,
+      "camera": null,
+      "device_identity": null,
+      "display_name": "20260716T075132Z_viewer_live",
+      "duration_seconds": 860.643795,
+      "host_time_identity_sha256": null,
+      "modalities": [
+        "point-cloud",
+        "trajectory"
+      ],
+      "mount_binding": null,
+      "origin": "legacy-viewer-live",
+      "raw_transport_sha256": "467cbfaf815e7fc73ac737cf102fa4a1a6e0be189ed12be847b98a8e0ed0b35f",
+      "session_id": "20260716T075132Z_viewer_live",
+      "status": "interrupted"
+    },
+    {
+      "calibration_binding": null,
+      "camera": null,
+      "device_identity": null,
+      "display_name": "20260716T144355Z_viewer_live",
+      "duration_seconds": 218.737673,
+      "host_time_identity_sha256": null,
+      "modalities": [
+        "point-cloud",
+        "trajectory"
+      ],
+      "mount_binding": null,
+      "origin": "legacy-viewer-live",
+      "raw_transport_sha256": "abb2513fb0307e67815ce2a58d23d4327961844b1c811154a4eba54cc6939602",
+      "session_id": "20260716T144355Z_viewer_live",
+      "status": "ready"
+    },
+    {
+      "calibration_binding": null,
+      "camera": null,
+      "device_identity": null,
+      "display_name": "20260716T182745Z_viewer_live",
+      "duration_seconds": 2404.214195,
+      "host_time_identity_sha256": null,
+      "modalities": [
+        "point-cloud",
+        "trajectory"
+      ],
+      "mount_binding": null,
+      "origin": "legacy-viewer-live",
+      "raw_transport_sha256": "654586831029228398fc9c082a88e3f2bdc49096a40049d3ebde3e3527d30329",
+      "session_id": "20260716T182745Z_viewer_live",
+      "status": "ready"
+    },
+    {
+      "calibration_binding": null,
+      "camera": null,
+      "device_identity": null,
+      "display_name": "20260716T191025Z_viewer_live",
+      "duration_seconds": 699.248385,
+      "host_time_identity_sha256": null,
+      "modalities": [
+        "point-cloud",
+        "trajectory"
+      ],
+      "mount_binding": null,
+      "origin": "legacy-viewer-live",
+      "raw_transport_sha256": "85e0d1ce0820a1c74b8771aea7fcedd6cce39301d7d17bf404c848552133ef2d",
+      "session_id": "20260716T191025Z_viewer_live",
+      "status": "ready"
+    },
+    {
+      "calibration_binding": null,
+      "camera": null,
+      "device_identity": null,
+      "display_name": "20260716T205632Z_viewer_live",
+      "duration_seconds": 1450.282194,
+      "host_time_identity_sha256": null,
+      "modalities": [
+        "point-cloud",
+        "trajectory"
+      ],
+      "mount_binding": null,
+      "origin": "legacy-viewer-live",
+      "raw_transport_sha256": "8f82e722ac252018e30139200f4122a6b2621f73594260ebfd4da22f96751d2d",
+      "session_id": "20260716T205632Z_viewer_live",
+      "status": "ready"
+    },
+    {
+      "calibration_binding": null,
+      "camera": {
+        "frame_count": 230,
+        "longest_contiguous_seconds": 22.884,
+        "source_id": "sensor.camera.right",
+        "status": "complete"
+      },
+      "device_identity": {
+        "device_serial_sha256": "74de39837b34d6db90c3dc583e4c58391fb4cb20a8b77ef8ca8f095471ab1c3a",
+        "vendor_device_id_sha256": "d9044906a5e5a0501d3db64869397a0307037cce163da72ad55c9b86d7f83fcd"
+      },
+      "display_name": "CAM_REC_TEST",
+      "duration_seconds": 96.918679,
+      "host_time_identity_sha256": "8722563749941e39cfc999bbc7d5faa85caddab6c381edf5ac76cc1963ea2e83",
+      "modalities": [
+        "point-cloud",
+        "trajectory",
+        "video"
+      ],
+      "mount_binding": null,
+      "origin": "xgrids-k1.viewer-live.evidence",
+      "raw_transport_sha256": "97c10258c34abeec71d8214a051fb50a46e871ef361e52bb070eeeaf75fab583",
+      "session_id": "20260718T071709Z_viewer_live",
+      "status": "ready"
+    },
+    {
+      "calibration_binding": null,
+      "camera": {
+        "frame_count": 2061,
+        "longest_contiguous_seconds": 206.073,
+        "source_id": "sensor.camera.left",
+        "status": "sealed-interrupted-source-end"
+      },
+      "device_identity": {
+        "device_serial_sha256": "74de39837b34d6db90c3dc583e4c58391fb4cb20a8b77ef8ca8f095471ab1c3a",
+        "vendor_device_id_sha256": "d9044906a5e5a0501d3db64869397a0307037cce163da72ad55c9b86d7f83fcd"
+      },
+      "display_name": "TEST007",
+      "duration_seconds": 302.677438,
+      "host_time_identity_sha256": "0903dad5c7c5901722c91c014042e9aa71a2bd5a2d54a88f947415408449bb2f",
+      "modalities": [
+        "point-cloud",
+        "trajectory",
+        "video"
+      ],
+      "mount_binding": null,
+      "origin": "xgrids-k1.viewer-live.evidence",
+      "raw_transport_sha256": "e7f60bf589b2885c68ae18b4bf78d5f79a0a7e95c18bca5f9c52d1d960636ed0",
+      "session_id": "20260718T201659Z_viewer_live",
+      "status": "ready"
+    },
+    {
+      "calibration_binding": null,
+      "camera": null,
+      "device_identity": null,
+      "display_name": "TEST009",
+      "duration_seconds": 90.63152,
+      "host_time_identity_sha256": "8c5c84ddaa742ee358df58d196bfc2bccb8878f5e56070711a6b60e8fc5f9bb0",
+      "modalities": [
+        "point-cloud",
+        "trajectory"
+      ],
+      "mount_binding": null,
+      "origin": "xgrids-k1.viewer-live.evidence",
+      "raw_transport_sha256": "29f68cecfda38339146277914ab8a4db94f9c0a5f43a6018aa4871fafc2f9062",
+      "session_id": "20260719T220917Z_viewer_live",
+      "status": "interrupted"
+    },
+    {
+      "calibration_binding": null,
+      "camera": {
+        "frame_count": 4489,
+        "longest_contiguous_seconds": 448.8,
+        "source_id": "sensor.camera.right",
+        "status": "complete"
+      },
+      "device_identity": {
+        "device_serial_sha256": "74de39837b34d6db90c3dc583e4c58391fb4cb20a8b77ef8ca8f095471ab1c3a",
+        "vendor_device_id_sha256": "d9044906a5e5a0501d3db64869397a0307037cce163da72ad55c9b86d7f83fcd"
+      },
+      "display_name": "RAVNOVES00",
+      "duration_seconds": 535.71762,
+      "host_time_identity_sha256": "582d52b144fc8f72d11787692e44349cf8cfc36c14d0cca37e9c1344b75319c4",
+      "modalities": [
+        "point-cloud",
+        "trajectory",
+        "video"
+      ],
+      "mount_binding": null,
+      "origin": "xgrids-k1.viewer-live.evidence",
+      "raw_transport_sha256": "70da0edad5cbf0e89b6e2355c0aac294f8c36a67249cd33b8918353fd88c83af",
+      "session_id": "20260720T065719Z_viewer_live",
+      "status": "ready"
+    }
+  ]
+}
@@ -0,0 +1,47 @@
+#!/usr/bin/env python3
+"""Build the immutable E36 second-source catalog audit."""
+
+from __future__ import annotations
+
+import argparse
+import json
+from pathlib import Path
+
+from k1link.compute.e36_source_catalog_audit import (
+    build_e36_source_catalog_audit,
+)
+
+
+def main() -> int:
+    parser = argparse.ArgumentParser()
+    parser.add_argument("--profile", type=Path, required=True)
+    parser.add_argument("--inventory", type=Path, required=True)
+    parser.add_argument(
+        "--output-root",
+        type=Path,
+        default=Path(".runtime/compute-experiments/e36/source-audits"),
+    )
+    args = parser.parse_args()
+    result = build_e36_source_catalog_audit(
+        profile_path=args.profile,
+        inventory_path=args.inventory,
+        output_root=args.output_root,
+    )
+    print(
+        json.dumps(
+            {
+                "result_id": result.result_id,
+                "result_root": str(result.result_root),
+                "status": result.report["status"],
+                "eligible_source_ids": list(result.eligible_source_ids),
+                "next_gate": result.report["next_gate"],
+            },
+            ensure_ascii=False,
+            sort_keys=True,
+        )
+    )
+    return 0 if result.eligible_source_ids else 3
+
+
+if __name__ == "__main__":
+    raise SystemExit(main())