feat(simulation): auto-build source mesh collision

apps/control-station/package-lock.json

@@ -16,6 +16,7 @@
         "@nodedc/ui-core": "file:../../../NODEDC_DESIGN_GUIDELINE/packages/ui-core",
         "@nodedc/ui-react": "file:../../../NODEDC_DESIGN_GUIDELINE/packages/ui-react",
         "@rerun-io/web-viewer": "0.34.1",
+        "meshoptimizer": "1.1.1",
         "playcanvas": "2.21.4",
         "react": "^19.1.0",
         "react-dom": "^19.1.0",
@@ -1661,7 +1662,6 @@
       "version": "1.1.1",
       "resolved": "https://registry.npmjs.org/meshoptimizer/-/meshoptimizer-1.1.1.tgz",
       "integrity": "sha512-oRFNWJRDA/WTrVj7NWvqa5HqE1t9MYDj2VaWirQCzCCrAd2GHrqR/sQezCxiWATPNlKTcRaPRHPJwIRoPBAp5g==",
-      "dev": true,
       "license": "MIT"
     },
     "node_modules/ms": {

apps/control-station/package.json

@@ -19,6 +19,7 @@
     "@nodedc/ui-core": "file:../../../NODEDC_DESIGN_GUIDELINE/packages/ui-core",
     "@nodedc/ui-react": "file:../../../NODEDC_DESIGN_GUIDELINE/packages/ui-react",
     "@rerun-io/web-viewer": "0.34.1",
+    "meshoptimizer": "1.1.1",
     "playcanvas": "2.21.4",
     "react": "^19.1.0",
     "react-dom": "^19.1.0",

apps/control-station/public/vendor/playcanvas/ammo/2026-08-25/BUILD_INFO.md

@@ -0,0 +1,9 @@
+# PlayCanvas Ammo runtime
+
+- Source: `https://developer.playcanvas.com/assets/modules/ammo/ammo.wasm.js`
+- Source: `https://developer.playcanvas.com/assets/modules/ammo/ammo.wasm.wasm`
+- Retrieved: 2026-08-27
+- `ammo.wasm.js`: 442459 bytes, SHA-256 `9b765569bce6993e781cd95d548c3711b119f355b512b25722e86a27d6ea8857`
+- `ammo.wasm.wasm`: 747690 bytes, SHA-256 `a73b547ed4289aa174bf3424b14b3cb8addc7fe708cd2636d306b72880d6ad13`
+
+The control station loads these pinned same-origin assets before constructing the PlayCanvas application so the rigid-body systems bind to the expected Ammo instance.

apps/control-station/public/vendor/playcanvas/ammo/2026-08-25/ammo.wasm.js

@@ -0,0 +1,921 @@
+// This is ammo.js, a port of Bullet Physics to JavaScript. zlib licensed.
+
+var Ammo = (() => {
+  var _scriptDir = typeof document !== 'undefined' && document.currentScript ? document.currentScript.src : undefined;
+  if (typeof __filename !== 'undefined') _scriptDir = _scriptDir || __filename;
+  return (
+function(Ammo = {})  {
+
+var b;b||(b=typeof Ammo !== 'undefined' ? Ammo : {});var aa,ba;b.ready=new Promise(function(a,c){aa=a;ba=c});var ca=Object.assign({},b),da="object"==typeof window,ea="function"==typeof importScripts,fa="object"==typeof process&&"object"==typeof process.versions&&"string"==typeof process.versions.node,ha="",ia,ja,ka;
+if(fa){var fs=require("fs"),la=require("path");ha=ea?la.dirname(ha)+"/":__dirname+"/";ia=(a,c)=>{a=a.startsWith("file://")?new URL(a):la.normalize(a);return fs.readFileSync(a,c?void 0:"utf8")};ka=a=>{a=ia(a,!0);a.buffer||(a=new Uint8Array(a));return a};ja=(a,c,d)=>{a=a.startsWith("file://")?new URL(a):la.normalize(a);fs.readFile(a,function(e,g){e?d(e):c(g.buffer)})};1<process.argv.length&&process.argv[1].replace(/\\/g,"/");process.argv.slice(2);b.inspect=function(){return"[Emscripten Module object]"}}else if(da||
+ea)ea?ha=self.location.href:"undefined"!=typeof document&&document.currentScript&&(ha=document.currentScript.src),_scriptDir&&(ha=_scriptDir),ha=0!==ha.indexOf("blob:")?ha.substr(0,ha.replace(/[?#].*/,"").lastIndexOf("/")+1):"",ia=a=>{var c=new XMLHttpRequest;c.open("GET",a,!1);c.send(null);return c.responseText},ea&&(ka=a=>{var c=new XMLHttpRequest;c.open("GET",a,!1);c.responseType="arraybuffer";c.send(null);return new Uint8Array(c.response)}),ja=(a,c,d)=>{var e=new XMLHttpRequest;e.open("GET",a,
+!0);e.responseType="arraybuffer";e.onload=()=>{200==e.status||0==e.status&&e.response?c(e.response):d()};e.onerror=d;e.send(null)};b.print||console.log.bind(console);var ma=b.printErr||console.warn.bind(console);Object.assign(b,ca);ca=null;var na;b.wasmBinary&&(na=b.wasmBinary);var noExitRuntime=b.noExitRuntime||!0;"object"!=typeof WebAssembly&&oa("no native wasm support detected");var pa,qa=!1,ra="undefined"!=typeof TextDecoder?new TextDecoder("utf8"):void 0;
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+function La(a){try{if(a==Ja&&na)return new Uint8Array(na);if(ka)return ka(a);throw"both async and sync fetching of the wasm failed";}catch(c){oa(c)}}
+function Ma(a){if(!na&&(da||ea)){if("function"==typeof fetch&&!a.startsWith("file://"))return fetch(a,{credentials:"same-origin"}).then(function(c){if(!c.ok)throw"failed to load wasm binary file at '"+a+"'";return c.arrayBuffer()}).catch(function(){return La(a)});if(ja)return new Promise(function(c,d){ja(a,function(e){c(new Uint8Array(e))},d)})}return Promise.resolve().then(function(){return La(a)})}
+function Na(a,c,d){return Ma(a).then(function(e){return WebAssembly.instantiate(e,c)}).then(function(e){return e}).then(d,function(e){ma("failed to asynchronously prepare wasm: "+e);oa(e)})}
+function Oa(a,c){var d=Ja;return na||"function"!=typeof WebAssembly.instantiateStreaming||Ia(d)||d.startsWith("file://")||fa||"function"!=typeof fetch?Na(d,a,c):fetch(d,{credentials:"same-origin"}).then(function(e){return WebAssembly.instantiateStreaming(e,a).then(c,function(g){ma("wasm streaming compile failed: "+g);ma("falling back to ArrayBuffer instantiation");return Na(d,a,c)})})}
+var Pa={27338:(a,c,d,e)=>{a=b.getCache(b.DebugDrawer)[a];if(!a.hasOwnProperty("drawLine"))throw"a JSImplementation must implement all functions, you forgot DebugDrawer::drawLine.";a.drawLine(c,d,e)},27558:(a,c,d,e,g,n)=>{a=b.getCache(b.DebugDrawer)[a];if(!a.hasOwnProperty("drawContactPoint"))throw"a JSImplementation must implement all functions, you forgot DebugDrawer::drawContactPoint.";a.drawContactPoint(c,d,e,g,n)},27808:(a,c)=>{a=b.getCache(b.DebugDrawer)[a];if(!a.hasOwnProperty("reportErrorWarning"))throw"a JSImplementation must implement all functions, you forgot DebugDrawer::reportErrorWarning.";
+a.reportErrorWarning(c)},28052:(a,c,d)=>{a=b.getCache(b.DebugDrawer)[a];if(!a.hasOwnProperty("draw3dText"))throw"a JSImplementation must implement all functions, you forgot DebugDrawer::draw3dText.";a.draw3dText(c,d)},28275:(a,c)=>{a=b.getCache(b.DebugDrawer)[a];if(!a.hasOwnProperty("setDebugMode"))throw"a JSImplementation must implement all functions, you forgot DebugDrawer::setDebugMode.";a.setDebugMode(c)},28501:a=>{a=b.getCache(b.DebugDrawer)[a];if(!a.hasOwnProperty("getDebugMode"))throw"a JSImplementation must implement all functions, you forgot DebugDrawer::getDebugMode.";
+return a.getDebugMode()},28732:(a,c)=>{a=b.getCache(b.MotionState)[a];if(!a.hasOwnProperty("getWorldTransform"))throw"a JSImplementation must implement all functions, you forgot MotionState::getWorldTransform.";a.getWorldTransform(c)},28973:(a,c)=>{a=b.getCache(b.MotionState)[a];if(!a.hasOwnProperty("setWorldTransform"))throw"a JSImplementation must implement all functions, you forgot MotionState::setWorldTransform.";a.setWorldTransform(c)},29214:(a,c,d,e,g,n,z,T)=>{a=b.getCache(b.ConcreteContactResultCallback)[a];
+if(!a.hasOwnProperty("addSingleResult"))throw"a JSImplementation must implement all functions, you forgot ConcreteContactResultCallback::addSingleResult.";return a.addSingleResult(c,d,e,g,n,z,T)}};function Qa(a){for(;0<a.length;)a.shift()(b)}var Ra=[];function Sa(a,c,d){Ra.length=0;var e;for(d>>=2;e=ta[c++];)d+=105!=e&d,Ra.push(105==e?va[d]:xa[d++>>1]),++d;return Pa[a].apply(null,Ra)}
+var Ta=[],Ua=void 0,Va=[],Wa={b:function(){oa("")},f:function(a,c,d){return Sa(a,c,d)},a:function(a,c,d){return Sa(a,c,d)},d:function(){return Date.now()},e:function(a,c,d){ta.copyWithin(a,c,c+d)},c:function(){oa("OOM")}};
+(function(){function a(d){d=d.exports;b.asm=d;pa=b.asm.g;var e=pa.buffer;b.HEAP8=ua=new Int8Array(e);b.HEAP16=new Int16Array(e);b.HEAP32=va=new Int32Array(e);b.HEAPU8=ta=new Uint8Array(e);b.HEAPU16=new Uint16Array(e);b.HEAPU32=new Uint32Array(e);b.HEAPF32=wa=new Float32Array(e);b.HEAPF64=xa=new Float64Array(e);ya=b.asm.iB;Aa.unshift(b.asm.h);Fa--;b.monitorRunDependencies&&b.monitorRunDependencies(Fa);0==Fa&&(null!==Ga&&(clearInterval(Ga),Ga=null),Ha&&(e=Ha,Ha=null,e()));return d}var c={a:Wa};Fa++;
+b.monitorRunDependencies&&b.monitorRunDependencies(Fa);if(b.instantiateWasm)try{return b.instantiateWasm(c,a)}catch(d){ma("Module.instantiateWasm callback failed with error: "+d),ba(d)}Oa(c,function(d){a(d.instance)}).catch(ba);return{}})();
+var Xa=b._emscripten_bind_btCollisionShape_setLocalScaling_1=function(){return(Xa=b._emscripten_bind_btCollisionShape_setLocalScaling_1=b.asm.i).apply(null,arguments)},Ya=b._emscripten_bind_btCollisionShape_getLocalScaling_0=function(){return(Ya=b._emscripten_bind_btCollisionShape_getLocalScaling_0=b.asm.j).apply(null,arguments)},Za=b._emscripten_bind_btCollisionShape_calculateLocalInertia_2=function(){return(Za=b._emscripten_bind_btCollisionShape_calculateLocalInertia_2=b.asm.k).apply(null,arguments)},
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+Xh=b._emscripten_bind_btTransform_getRotation_0=function(){return(Xh=b._emscripten_bind_btTransform_getRotation_0=b.asm.$f).apply(null,arguments)},Yh=b._emscripten_bind_btTransform_getBasis_0=function(){return(Yh=b._emscripten_bind_btTransform_getBasis_0=b.asm.ag).apply(null,arguments)},Zh=b._emscripten_bind_btTransform_setFromOpenGLMatrix_1=function(){return(Zh=b._emscripten_bind_btTransform_setFromOpenGLMatrix_1=b.asm.bg).apply(null,arguments)},$h=b._emscripten_bind_btTransform_inverse_0=function(){return($h=
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+function(){return(fu=b._emscripten_bind_btDispatcherInfo_set_m_timeStep_1=b.asm.Tr).apply(null,arguments)},gu=b._emscripten_bind_btDispatcherInfo_get_m_stepCount_0=function(){return(gu=b._emscripten_bind_btDispatcherInfo_get_m_stepCount_0=b.asm.Ur).apply(null,arguments)},hu=b._emscripten_bind_btDispatcherInfo_set_m_stepCount_1=function(){return(hu=b._emscripten_bind_btDispatcherInfo_set_m_stepCount_1=b.asm.Vr).apply(null,arguments)},iu=b._emscripten_bind_btDispatcherInfo_get_m_dispatchFunc_0=function(){return(iu=
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+b._emscripten_bind_btWheelInfo_get_m_wheelAxleCS_0=b.asm.ou).apply(null,arguments)},Fw=b._emscripten_bind_btWheelInfo_set_m_wheelAxleCS_1=function(){return(Fw=b._emscripten_bind_btWheelInfo_set_m_wheelAxleCS_1=b.asm.pu).apply(null,arguments)},Gw=b._emscripten_bind_btWheelInfo_get_m_rotation_0=function(){return(Gw=b._emscripten_bind_btWheelInfo_get_m_rotation_0=b.asm.qu).apply(null,arguments)},Hw=b._emscripten_bind_btWheelInfo_set_m_rotation_1=function(){return(Hw=b._emscripten_bind_btWheelInfo_set_m_rotation_1=
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+Zw=b._emscripten_bind_btKinematicCharacterController_preStep_1=function(){return(Zw=b._emscripten_bind_btKinematicCharacterController_preStep_1=b.asm.Ju).apply(null,arguments)},$w=b._emscripten_bind_btKinematicCharacterController_playerStep_2=function(){return($w=b._emscripten_bind_btKinematicCharacterController_playerStep_2=b.asm.Ku).apply(null,arguments)},ax=b._emscripten_bind_btKinematicCharacterController_setFallSpeed_1=function(){return(ax=b._emscripten_bind_btKinematicCharacterController_setFallSpeed_1=
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+function(){return(px=b._emscripten_bind_btRaycastVehicle_btRaycastVehicle_3=b.asm._u).apply(null,arguments)},qx=b._emscripten_bind_btRaycastVehicle_applyEngineForce_2=function(){return(qx=b._emscripten_bind_btRaycastVehicle_applyEngineForce_2=b.asm.$u).apply(null,arguments)},rx=b._emscripten_bind_btRaycastVehicle_setSteeringValue_2=function(){return(rx=b._emscripten_bind_btRaycastVehicle_setSteeringValue_2=b.asm.av).apply(null,arguments)},sx=b._emscripten_bind_btRaycastVehicle_getWheelTransformWS_1=
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+Fx=b._emscripten_bind_btRaycastVehicle_getSteeringValue_1=function(){return(Fx=b._emscripten_bind_btRaycastVehicle_getSteeringValue_1=b.asm.ov).apply(null,arguments)},Gx=b._emscripten_bind_btRaycastVehicle_updateWheelTransformsWS_1=function(){return(Gx=b._emscripten_bind_btRaycastVehicle_updateWheelTransformsWS_1=b.asm.pv).apply(null,arguments)},Hx=b._emscripten_bind_btRaycastVehicle_updateWheelTransformsWS_2=function(){return(Hx=b._emscripten_bind_btRaycastVehicle_updateWheelTransformsWS_2=b.asm.qv).apply(null,
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+zy=b._emscripten_bind_btPairCachingGhostObject_getOverlappingObject_1=function(){return(zy=b._emscripten_bind_btPairCachingGhostObject_getOverlappingObject_1=b.asm.hw).apply(null,arguments)},Ay=b._emscripten_bind_btPairCachingGhostObject___destroy___0=function(){return(Ay=b._emscripten_bind_btPairCachingGhostObject___destroy___0=b.asm.iw).apply(null,arguments)},By=b._emscripten_bind_btGhostPairCallback_btGhostPairCallback_0=function(){return(By=b._emscripten_bind_btGhostPairCallback_btGhostPairCallback_0=
+b.asm.jw).apply(null,arguments)},Cy=b._emscripten_bind_btGhostPairCallback___destroy___0=function(){return(Cy=b._emscripten_bind_btGhostPairCallback___destroy___0=b.asm.kw).apply(null,arguments)},Dy=b._emscripten_bind_btSoftBodyWorldInfo_btSoftBodyWorldInfo_0=function(){return(Dy=b._emscripten_bind_btSoftBodyWorldInfo_btSoftBodyWorldInfo_0=b.asm.lw).apply(null,arguments)},Ey=b._emscripten_bind_btSoftBodyWorldInfo_get_air_density_0=function(){return(Ey=b._emscripten_bind_btSoftBodyWorldInfo_get_air_density_0=
+b.asm.mw).apply(null,arguments)},Fy=b._emscripten_bind_btSoftBodyWorldInfo_set_air_density_1=function(){return(Fy=b._emscripten_bind_btSoftBodyWorldInfo_set_air_density_1=b.asm.nw).apply(null,arguments)},Gy=b._emscripten_bind_btSoftBodyWorldInfo_get_water_density_0=function(){return(Gy=b._emscripten_bind_btSoftBodyWorldInfo_get_water_density_0=b.asm.ow).apply(null,arguments)},Hy=b._emscripten_bind_btSoftBodyWorldInfo_set_water_density_1=function(){return(Hy=b._emscripten_bind_btSoftBodyWorldInfo_set_water_density_1=
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+function QD(a){if("string"===typeof a){for(var c=0,d=0;d<a.length;++d){var e=a.charCodeAt(d);127>=e?c++:2047>=e?c+=2:55296<=e&&57343>=e?(c+=4,++d):c+=3}c=Array(c+1);e=c.length;d=0;if(0<e){e=d+e-1;for(var g=0;g<a.length;++g){var n=a.charCodeAt(g);if(55296<=n&&57343>=n){var z=a.charCodeAt(++g);n=65536+((n&1023)<<10)|z&1023}if(127>=n){if(d>=e)break;c[d++]=n}else{if(2047>=n){if(d+1>=e)break;c[d++]=192|n>>6}else{if(65535>=n){if(d+2>=e)break;c[d++]=224|n>>12}else{if(d+3>=e)break;c[d++]=240|n>>18;c[d++]=
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+function ZD(){throw"cannot construct a btConcaveShape, no constructor in IDL";}ZD.prototype=Object.create(l.prototype);ZD.prototype.constructor=ZD;ZD.prototype.lB=ZD;ZD.mB={};b.btConcaveShape=ZD;ZD.prototype.setLocalScaling=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Yb(c,a)};ZD.prototype.getLocalScaling=function(){return k(Zb(this.kB),m)};ZD.prototype.calculateLocalInertia=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);$b(d,a,c)};
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+m.prototype.setValue=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);Xc(e,a,c,d)};m.prototype.normalize=m.prototype.normalize=function(){Yc(this.kB)};m.prototype.rotate=m.prototype.rotate=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);return k(Zc(d,a,c),m)};m.prototype.dot=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return $c(c,a)};
+m.prototype.op_mul=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(ad(c,a),m)};m.prototype.op_add=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(bd(c,a),m)};m.prototype.op_sub=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(cd(c,a),m)};m.prototype.__destroy__=function(){dd(this.kB)};function cE(){throw"cannot construct a btQuadWord, no constructor in IDL";}cE.prototype=Object.create(f.prototype);cE.prototype.constructor=cE;
+cE.prototype.lB=cE;cE.mB={};b.btQuadWord=cE;cE.prototype.x=cE.prototype.x=function(){return ed(this.kB)};cE.prototype.y=cE.prototype.y=function(){return fd(this.kB)};cE.prototype.z=cE.prototype.z=function(){return gd(this.kB)};cE.prototype.w=cE.prototype.w=function(){return hd(this.kB)};cE.prototype.setX=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);jd(c,a)};cE.prototype.setY=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);kd(c,a)};
+cE.prototype.setZ=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ld(c,a)};cE.prototype.setW=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);md(c,a)};cE.prototype.__destroy__=function(){nd(this.kB)};function dE(){throw"cannot construct a btMotionState, no constructor in IDL";}dE.prototype=Object.create(f.prototype);dE.prototype.constructor=dE;dE.prototype.lB=dE;dE.mB={};b.btMotionState=dE;
+dE.prototype.getWorldTransform=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);od(c,a)};dE.prototype.setWorldTransform=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);pd(c,a)};dE.prototype.__destroy__=function(){qd(this.kB)};function u(){throw"cannot construct a RayResultCallback, no constructor in IDL";}u.prototype=Object.create(f.prototype);u.prototype.constructor=u;u.prototype.lB=u;u.mB={};b.RayResultCallback=u;u.prototype.hasHit=function(){return!!rd(this.kB)};
+u.prototype.get_m_collisionFilterGroup=u.prototype.nB=function(){return sd(this.kB)};u.prototype.set_m_collisionFilterGroup=u.prototype.pB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);td(c,a)};Object.defineProperty(u.prototype,"m_collisionFilterGroup",{get:u.prototype.nB,set:u.prototype.pB});u.prototype.get_m_collisionFilterMask=u.prototype.oB=function(){return ud(this.kB)};
+u.prototype.set_m_collisionFilterMask=u.prototype.qB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);vd(c,a)};Object.defineProperty(u.prototype,"m_collisionFilterMask",{get:u.prototype.oB,set:u.prototype.qB});u.prototype.get_m_closestHitFraction=u.prototype.rB=function(){return wd(this.kB)};u.prototype.set_m_closestHitFraction=u.prototype.sB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);xd(c,a)};Object.defineProperty(u.prototype,"m_closestHitFraction",{get:u.prototype.rB,set:u.prototype.sB});
+u.prototype.get_m_collisionObject=u.prototype.vB=function(){return k(yd(this.kB),q)};u.prototype.set_m_collisionObject=u.prototype.CB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);zd(c,a)};Object.defineProperty(u.prototype,"m_collisionObject",{get:u.prototype.vB,set:u.prototype.CB});u.prototype.get_m_flags=u.prototype.tB=function(){return Ad(this.kB)};u.prototype.set_m_flags=u.prototype.uB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Bd(c,a)};
+Object.defineProperty(u.prototype,"m_flags",{get:u.prototype.tB,set:u.prototype.uB});u.prototype.__destroy__=function(){Cd(this.kB)};function eE(){throw"cannot construct a ContactResultCallback, no constructor in IDL";}eE.prototype=Object.create(f.prototype);eE.prototype.constructor=eE;eE.prototype.lB=eE;eE.mB={};b.ContactResultCallback=eE;
+eE.prototype.addSingleResult=function(a,c,d,e,g,n,z){var T=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);g&&"object"===typeof g&&(g=g.kB);n&&"object"===typeof n&&(n=n.kB);z&&"object"===typeof z&&(z=z.kB);return Dd(T,a,c,d,e,g,n,z)};eE.prototype.__destroy__=function(){Ed(this.kB)};function v(){throw"cannot construct a ConvexResultCallback, no constructor in IDL";}v.prototype=Object.create(f.prototype);
+v.prototype.constructor=v;v.prototype.lB=v;v.mB={};b.ConvexResultCallback=v;v.prototype.hasHit=function(){return!!Fd(this.kB)};v.prototype.get_m_collisionFilterGroup=v.prototype.nB=function(){return Gd(this.kB)};v.prototype.set_m_collisionFilterGroup=v.prototype.pB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Hd(c,a)};Object.defineProperty(v.prototype,"m_collisionFilterGroup",{get:v.prototype.nB,set:v.prototype.pB});v.prototype.get_m_collisionFilterMask=v.prototype.oB=function(){return Id(this.kB)};
+v.prototype.set_m_collisionFilterMask=v.prototype.qB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Jd(c,a)};Object.defineProperty(v.prototype,"m_collisionFilterMask",{get:v.prototype.oB,set:v.prototype.qB});v.prototype.get_m_closestHitFraction=v.prototype.rB=function(){return Kd(this.kB)};v.prototype.set_m_closestHitFraction=v.prototype.sB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ld(c,a)};Object.defineProperty(v.prototype,"m_closestHitFraction",{get:v.prototype.rB,set:v.prototype.sB});
+v.prototype.__destroy__=function(){Md(this.kB)};function fE(){throw"cannot construct a btConvexShape, no constructor in IDL";}fE.prototype=Object.create(l.prototype);fE.prototype.constructor=fE;fE.prototype.lB=fE;fE.mB={};b.btConvexShape=fE;fE.prototype.setLocalScaling=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Nd(c,a)};fE.prototype.getLocalScaling=function(){return k(Od(this.kB),m)};
+fE.prototype.calculateLocalInertia=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Pd(d,a,c)};fE.prototype.setMargin=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Qd(c,a)};fE.prototype.getMargin=function(){return Rd(this.kB)};fE.prototype.__destroy__=function(){Sd(this.kB)};function gE(a,c){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);this.kB=Td(a,c);h(gE)[this.kB]=this}gE.prototype=Object.create(l.prototype);
+gE.prototype.constructor=gE;gE.prototype.lB=gE;gE.mB={};b.btCapsuleShape=gE;gE.prototype.setMargin=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ud(c,a)};gE.prototype.getMargin=function(){return Vd(this.kB)};gE.prototype.getUpAxis=function(){return Wd(this.kB)};gE.prototype.getRadius=function(){return Xd(this.kB)};gE.prototype.getHalfHeight=function(){return Yd(this.kB)};gE.prototype.setLocalScaling=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Zd(c,a)};
+gE.prototype.getLocalScaling=function(){return k($d(this.kB),m)};gE.prototype.calculateLocalInertia=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);ae(d,a,c)};gE.prototype.__destroy__=function(){be(this.kB)};function hE(a){a&&"object"===typeof a&&(a=a.kB);this.kB=ce(a);h(hE)[this.kB]=this}hE.prototype=Object.create(l.prototype);hE.prototype.constructor=hE;hE.prototype.lB=hE;hE.mB={};b.btCylinderShape=hE;
+hE.prototype.setMargin=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);de(c,a)};hE.prototype.getMargin=function(){return ee(this.kB)};hE.prototype.setLocalScaling=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);fe(c,a)};hE.prototype.getLocalScaling=function(){return k(ge(this.kB),m)};hE.prototype.calculateLocalInertia=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);he(d,a,c)};hE.prototype.__destroy__=function(){ie(this.kB)};
+function iE(a,c){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);this.kB=je(a,c);h(iE)[this.kB]=this}iE.prototype=Object.create(l.prototype);iE.prototype.constructor=iE;iE.prototype.lB=iE;iE.mB={};b.btConeShape=iE;iE.prototype.setLocalScaling=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ke(c,a)};iE.prototype.getLocalScaling=function(){return k(le(this.kB),m)};
+iE.prototype.calculateLocalInertia=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);me(d,a,c)};iE.prototype.__destroy__=function(){ne(this.kB)};function jE(){throw"cannot construct a btStridingMeshInterface, no constructor in IDL";}jE.prototype=Object.create(f.prototype);jE.prototype.constructor=jE;jE.prototype.lB=jE;jE.mB={};b.btStridingMeshInterface=jE;jE.prototype.setScaling=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);oe(c,a)};
+jE.prototype.__destroy__=function(){pe(this.kB)};function kE(){throw"cannot construct a btTriangleMeshShape, no constructor in IDL";}kE.prototype=Object.create(ZD.prototype);kE.prototype.constructor=kE;kE.prototype.lB=kE;kE.mB={};b.btTriangleMeshShape=kE;kE.prototype.setLocalScaling=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);qe(c,a)};kE.prototype.getLocalScaling=function(){return k(re(this.kB),m)};
+kE.prototype.calculateLocalInertia=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);se(d,a,c)};kE.prototype.__destroy__=function(){te(this.kB)};function lE(){throw"cannot construct a btPrimitiveManagerBase, no constructor in IDL";}lE.prototype=Object.create(f.prototype);lE.prototype.constructor=lE;lE.prototype.lB=lE;lE.mB={};b.btPrimitiveManagerBase=lE;lE.prototype.is_trimesh=function(){return!!ue(this.kB)};lE.prototype.get_primitive_count=function(){return ve(this.kB)};
+lE.prototype.get_primitive_box=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);we(d,a,c)};lE.prototype.get_primitive_triangle=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);xe(d,a,c)};lE.prototype.__destroy__=function(){ye(this.kB)};function w(){throw"cannot construct a btGImpactShapeInterface, no constructor in IDL";}w.prototype=Object.create(ZD.prototype);w.prototype.constructor=w;w.prototype.lB=w;
+w.mB={};b.btGImpactShapeInterface=w;w.prototype.updateBound=function(){ze(this.kB)};w.prototype.postUpdate=function(){Ae(this.kB)};w.prototype.getShapeType=function(){return Be(this.kB)};w.prototype.getName=function(){return sa(Ce(this.kB))};w.prototype.getGImpactShapeType=function(){return De(this.kB)};w.prototype.getPrimitiveManager=function(){return k(Ee(this.kB),lE)};w.prototype.getNumChildShapes=function(){return Fe(this.kB)};w.prototype.childrenHasTransform=function(){return!!Ge(this.kB)};
+w.prototype.needsRetrieveTriangles=function(){return!!He(this.kB)};w.prototype.needsRetrieveTetrahedrons=function(){return!!Ie(this.kB)};w.prototype.getBulletTriangle=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Je(d,a,c)};w.prototype.getBulletTetrahedron=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Ke(d,a,c)};
+w.prototype.getChildShape=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(Le(c,a),l)};w.prototype.getChildTransform=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(Me(c,a),r)};w.prototype.setChildTransform=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Ne(d,a,c)};w.prototype.setLocalScaling=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Oe(c,a)};
+w.prototype.getLocalScaling=function(){return k(Pe(this.kB),m)};w.prototype.calculateLocalInertia=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Qe(d,a,c)};w.prototype.__destroy__=function(){Re(this.kB)};function mE(){throw"cannot construct a btActivatingCollisionAlgorithm, no constructor in IDL";}mE.prototype=Object.create($D.prototype);mE.prototype.constructor=mE;mE.prototype.lB=mE;mE.mB={};b.btActivatingCollisionAlgorithm=mE;
+mE.prototype.__destroy__=function(){Se(this.kB)};function nE(a){a&&"object"===typeof a&&(a=a.kB);this.kB=void 0===a?Te():Ue(a);h(nE)[this.kB]=this}nE.prototype=Object.create(f.prototype);nE.prototype.constructor=nE;nE.prototype.lB=nE;nE.mB={};b.btDefaultCollisionConfiguration=nE;nE.prototype.__destroy__=function(){Ve(this.kB)};function TD(){throw"cannot construct a btDispatcher, no constructor in IDL";}TD.prototype=Object.create(f.prototype);TD.prototype.constructor=TD;TD.prototype.lB=TD;TD.mB={};
+b.btDispatcher=TD;TD.prototype.getNumManifolds=function(){return We(this.kB)};TD.prototype.getManifoldByIndexInternal=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(Xe(c,a),oE)};TD.prototype.__destroy__=function(){Ye(this.kB)};
+function pE(a,c,d,e,g){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);g&&"object"===typeof g&&(g=g.kB);this.kB=void 0===e?Ze(a,c,d):void 0===g?_emscripten_bind_btGeneric6DofConstraint_btGeneric6DofConstraint_4(a,c,d,e):$e(a,c,d,e,g);h(pE)[this.kB]=this}pE.prototype=Object.create(aE.prototype);pE.prototype.constructor=pE;pE.prototype.lB=pE;pE.mB={};b.btGeneric6DofConstraint=pE;
+pE.prototype.setLinearLowerLimit=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);af(c,a)};pE.prototype.setLinearUpperLimit=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);bf(c,a)};pE.prototype.setAngularLowerLimit=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);cf(c,a)};pE.prototype.setAngularUpperLimit=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);df(c,a)};pE.prototype.getFrameOffsetA=function(){return k(ef(this.kB),r)};
+pE.prototype.enableFeedback=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ff(c,a)};pE.prototype.getBreakingImpulseThreshold=function(){return gf(this.kB)};pE.prototype.setBreakingImpulseThreshold=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);hf(c,a)};pE.prototype.getParam=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);return jf(d,a,c)};
+pE.prototype.setParam=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);kf(e,a,c,d)};pE.prototype.__destroy__=function(){lf(this.kB)};function x(a,c,d,e){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);this.kB=mf(a,c,d,e);h(x)[this.kB]=this}x.prototype=Object.create(bE.prototype);x.prototype.constructor=x;x.prototype.lB=x;x.mB={};
+b.btDiscreteDynamicsWorld=x;x.prototype.setGravity=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);nf(c,a)};x.prototype.getGravity=function(){return k(of(this.kB),m)};x.prototype.addRigidBody=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);void 0===c?pf(e,a):void 0===d?_emscripten_bind_btDiscreteDynamicsWorld_addRigidBody_2(e,a,c):qf(e,a,c,d)};
+x.prototype.removeRigidBody=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);rf(c,a)};x.prototype.addConstraint=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);void 0===c?sf(d,a):tf(d,a,c)};x.prototype.removeConstraint=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);uf(c,a)};
+x.prototype.stepSimulation=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);return void 0===c?vf(e,a):void 0===d?wf(e,a,c):xf(e,a,c,d)};x.prototype.setContactAddedCallback=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);yf(c,a)};x.prototype.setContactProcessedCallback=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);zf(c,a)};
+x.prototype.setContactDestroyedCallback=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Af(c,a)};x.prototype.getDispatcher=function(){return k(Bf(this.kB),TD)};x.prototype.rayTest=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);Cf(e,a,c,d)};x.prototype.getPairCache=function(){return k(Df(this.kB),UD)};x.prototype.getDispatchInfo=function(){return k(Ef(this.kB),p)};
+x.prototype.addCollisionObject=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);void 0===c?Ff(e,a):void 0===d?Gf(e,a,c):Hf(e,a,c,d)};x.prototype.removeCollisionObject=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);If(c,a)};x.prototype.getBroadphase=function(){return k(Jf(this.kB),VD)};
+x.prototype.convexSweepTest=function(a,c,d,e,g){var n=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);g&&"object"===typeof g&&(g=g.kB);Kf(n,a,c,d,e,g)};x.prototype.contactPairTest=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);Lf(e,a,c,d)};
+x.prototype.contactTest=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Mf(d,a,c)};x.prototype.updateSingleAabb=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Nf(c,a)};x.prototype.setDebugDrawer=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Of(c,a)};x.prototype.getDebugDrawer=function(){return k(Pf(this.kB),WD)};x.prototype.debugDrawWorld=function(){Qf(this.kB)};
+x.prototype.debugDrawObject=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);Rf(e,a,c,d)};x.prototype.addAction=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Sf(c,a)};x.prototype.removeAction=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Tf(c,a)};x.prototype.getSolverInfo=function(){return k(Uf(this.kB),t)};
+x.prototype.setInternalTickCallback=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);void 0===c?Vf(e,a):void 0===d?Wf(e,a,c):Xf(e,a,c,d)};x.prototype.__destroy__=function(){Yf(this.kB)};function qE(){throw"cannot construct a btVehicleRaycaster, no constructor in IDL";}qE.prototype=Object.create(f.prototype);qE.prototype.constructor=qE;qE.prototype.lB=qE;qE.mB={};b.btVehicleRaycaster=qE;
+qE.prototype.castRay=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);Zf(e,a,c,d)};qE.prototype.__destroy__=function(){$f(this.kB)};function rE(){throw"cannot construct a btActionInterface, no constructor in IDL";}rE.prototype=Object.create(f.prototype);rE.prototype.constructor=rE;rE.prototype.lB=rE;rE.mB={};b.btActionInterface=rE;
+rE.prototype.updateAction=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);ag(d,a,c)};rE.prototype.__destroy__=function(){bg(this.kB)};function y(){this.kB=cg();h(y)[this.kB]=this}y.prototype=Object.create(q.prototype);y.prototype.constructor=y;y.prototype.lB=y;y.mB={};b.btGhostObject=y;y.prototype.getNumOverlappingObjects=function(){return dg(this.kB)};
+y.prototype.getOverlappingObject=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(eg(c,a),q)};y.prototype.setAnisotropicFriction=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);fg(d,a,c)};y.prototype.getCollisionShape=function(){return k(gg(this.kB),l)};y.prototype.setContactProcessingThreshold=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);hg(c,a)};
+y.prototype.setActivationState=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ig(c,a)};y.prototype.forceActivationState=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);jg(c,a)};y.prototype.activate=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);void 0===a?kg(c):lg(c,a)};y.prototype.isActive=function(){return!!mg(this.kB)};y.prototype.isKinematicObject=function(){return!!ng(this.kB)};y.prototype.isStaticObject=function(){return!!og(this.kB)};
+y.prototype.isStaticOrKinematicObject=function(){return!!pg(this.kB)};y.prototype.getRestitution=function(){return qg(this.kB)};y.prototype.getFriction=function(){return rg(this.kB)};y.prototype.getRollingFriction=function(){return sg(this.kB)};y.prototype.setRestitution=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);tg(c,a)};y.prototype.setFriction=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ug(c,a)};
+y.prototype.setRollingFriction=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);vg(c,a)};y.prototype.getWorldTransform=function(){return k(wg(this.kB),r)};y.prototype.getCollisionFlags=function(){return xg(this.kB)};y.prototype.setCollisionFlags=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);yg(c,a)};y.prototype.setWorldTransform=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);zg(c,a)};
+y.prototype.setCollisionShape=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ag(c,a)};y.prototype.setCcdMotionThreshold=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Bg(c,a)};y.prototype.setCcdSweptSphereRadius=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Cg(c,a)};y.prototype.getUserIndex=function(){return Dg(this.kB)};y.prototype.setUserIndex=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Eg(c,a)};
+y.prototype.getUserPointer=function(){return k(Fg(this.kB),XD)};y.prototype.setUserPointer=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Gg(c,a)};y.prototype.getBroadphaseHandle=function(){return k(Hg(this.kB),YD)};y.prototype.__destroy__=function(){Ig(this.kB)};function sE(){throw"cannot construct a btSoftBodySolver, no constructor in IDL";}sE.prototype=Object.create(f.prototype);sE.prototype.constructor=sE;sE.prototype.lB=sE;sE.mB={};b.btSoftBodySolver=sE;sE.prototype.__destroy__=function(){Jg(this.kB)};
+function XD(){throw"cannot construct a VoidPtr, no constructor in IDL";}XD.prototype=Object.create(f.prototype);XD.prototype.constructor=XD;XD.prototype.lB=XD;XD.mB={};b.VoidPtr=XD;XD.prototype.__destroy__=function(){Kg(this.kB)};function tE(){this.kB=Lg();h(tE)[this.kB]=this}tE.prototype=Object.create(WD.prototype);tE.prototype.constructor=tE;tE.prototype.lB=tE;tE.mB={};b.DebugDrawer=tE;
+tE.prototype.drawLine=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);Mg(e,a,c,d)};tE.prototype.drawContactPoint=function(a,c,d,e,g){var n=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);g&&"object"===typeof g&&(g=g.kB);Ng(n,a,c,d,e,g)};
+tE.prototype.reportErrorWarning=function(a){var c=this.kB;ND();a=a&&"object"===typeof a?a.kB:QD(a);Og(c,a)};tE.prototype.draw3dText=function(a,c){var d=this.kB;ND();a&&"object"===typeof a&&(a=a.kB);c=c&&"object"===typeof c?c.kB:QD(c);Pg(d,a,c)};tE.prototype.setDebugMode=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Qg(c,a)};tE.prototype.getDebugMode=function(){return Rg(this.kB)};tE.prototype.__destroy__=function(){Sg(this.kB)};
+function A(a,c,d,e){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);this.kB=void 0===a?Tg():void 0===c?_emscripten_bind_btVector4_btVector4_1(a):void 0===d?_emscripten_bind_btVector4_btVector4_2(a,c):void 0===e?_emscripten_bind_btVector4_btVector4_3(a,c,d):Ug(a,c,d,e);h(A)[this.kB]=this}A.prototype=Object.create(m.prototype);A.prototype.constructor=A;A.prototype.lB=A;A.mB={};b.btVector4=A;
+A.prototype.w=A.prototype.w=function(){return Vg(this.kB)};A.prototype.setValue=function(a,c,d,e){var g=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);Wg(g,a,c,d,e)};A.prototype.length=A.prototype.length=function(){return Xg(this.kB)};A.prototype.x=A.prototype.x=function(){return Yg(this.kB)};A.prototype.y=A.prototype.y=function(){return Zg(this.kB)};A.prototype.z=A.prototype.z=function(){return $g(this.kB)};
+A.prototype.setX=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ah(c,a)};A.prototype.setY=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);bh(c,a)};A.prototype.setZ=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ch(c,a)};A.prototype.normalize=A.prototype.normalize=function(){dh(this.kB)};A.prototype.rotate=A.prototype.rotate=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);return k(eh(d,a,c),m)};
+A.prototype.dot=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return fh(c,a)};A.prototype.op_mul=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(gh(c,a),m)};A.prototype.op_add=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(hh(c,a),m)};A.prototype.op_sub=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(ih(c,a),m)};A.prototype.__destroy__=function(){jh(this.kB)};
+function B(a,c,d,e){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);this.kB=kh(a,c,d,e);h(B)[this.kB]=this}B.prototype=Object.create(cE.prototype);B.prototype.constructor=B;B.prototype.lB=B;B.mB={};b.btQuaternion=B;B.prototype.setValue=function(a,c,d,e){var g=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);lh(g,a,c,d,e)};
+B.prototype.setEulerZYX=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);mh(e,a,c,d)};B.prototype.setRotation=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);nh(d,a,c)};B.prototype.normalize=B.prototype.normalize=function(){oh(this.kB)};B.prototype.length2=function(){return ph(this.kB)};B.prototype.length=B.prototype.length=function(){return qh(this.kB)};
+B.prototype.dot=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return rh(c,a)};B.prototype.normalized=function(){return k(sh(this.kB),B)};B.prototype.getAxis=function(){return k(th(this.kB),m)};B.prototype.inverse=B.prototype.inverse=function(){return k(uh(this.kB),B)};B.prototype.getAngle=function(){return vh(this.kB)};B.prototype.getAngleShortestPath=function(){return wh(this.kB)};
+B.prototype.angle=B.prototype.angle=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return xh(c,a)};B.prototype.angleShortestPath=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return yh(c,a)};B.prototype.op_add=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(zh(c,a),B)};B.prototype.op_sub=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(Ah(c,a),B)};
+B.prototype.op_mul=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(Bh(c,a),B)};B.prototype.op_mulq=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(Ch(c,a),B)};B.prototype.op_div=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(Dh(c,a),B)};B.prototype.x=B.prototype.x=function(){return Eh(this.kB)};B.prototype.y=B.prototype.y=function(){return Fh(this.kB)};B.prototype.z=B.prototype.z=function(){return Gh(this.kB)};
+B.prototype.w=B.prototype.w=function(){return Hh(this.kB)};B.prototype.setX=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ih(c,a)};B.prototype.setY=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Jh(c,a)};B.prototype.setZ=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Kh(c,a)};B.prototype.setW=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Lh(c,a)};B.prototype.__destroy__=function(){Mh(this.kB)};
+function uE(){throw"cannot construct a btMatrix3x3, no constructor in IDL";}uE.prototype=Object.create(f.prototype);uE.prototype.constructor=uE;uE.prototype.lB=uE;uE.mB={};b.btMatrix3x3=uE;uE.prototype.setEulerZYX=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);Nh(e,a,c,d)};uE.prototype.getRotation=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Oh(c,a)};
+uE.prototype.getRow=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(Ph(c,a),m)};uE.prototype.__destroy__=function(){Qh(this.kB)};function r(a,c){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);this.kB=void 0===a?Rh():void 0===c?_emscripten_bind_btTransform_btTransform_1(a):Sh(a,c);h(r)[this.kB]=this}r.prototype=Object.create(f.prototype);r.prototype.constructor=r;r.prototype.lB=r;r.mB={};b.btTransform=r;r.prototype.setIdentity=function(){Th(this.kB)};
+r.prototype.setOrigin=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Uh(c,a)};r.prototype.setRotation=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Vh(c,a)};r.prototype.getOrigin=function(){return k(Wh(this.kB),m)};r.prototype.getRotation=function(){return k(Xh(this.kB),B)};r.prototype.getBasis=function(){return k(Yh(this.kB),uE)};r.prototype.setFromOpenGLMatrix=function(a){var c=this.kB;ND();"object"==typeof a&&(a=RD(a));Zh(c,a)};
+r.prototype.inverse=r.prototype.inverse=function(){return k($h(this.kB),r)};r.prototype.op_mul=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(ai(c,a),r)};r.prototype.__destroy__=function(){bi(this.kB)};function vE(){this.kB=ci();h(vE)[this.kB]=this}vE.prototype=Object.create(dE.prototype);vE.prototype.constructor=vE;vE.prototype.lB=vE;vE.mB={};b.MotionState=vE;vE.prototype.getWorldTransform=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);di(c,a)};
+vE.prototype.setWorldTransform=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ei(c,a)};vE.prototype.__destroy__=function(){fi(this.kB)};function wE(a,c){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);this.kB=void 0===a?gi():void 0===c?hi(a):ii(a,c);h(wE)[this.kB]=this}wE.prototype=Object.create(dE.prototype);wE.prototype.constructor=wE;wE.prototype.lB=wE;wE.mB={};b.btDefaultMotionState=wE;
+wE.prototype.getWorldTransform=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ji(c,a)};wE.prototype.setWorldTransform=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ki(c,a)};wE.prototype.get_m_graphicsWorldTrans=wE.prototype.lD=function(){return k(li(this.kB),r)};wE.prototype.set_m_graphicsWorldTrans=wE.prototype.cG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);mi(c,a)};Object.defineProperty(wE.prototype,"m_graphicsWorldTrans",{get:wE.prototype.lD,set:wE.prototype.cG});
+wE.prototype.__destroy__=function(){ni(this.kB)};function xE(){throw"cannot construct a btCollisionObjectWrapper, no constructor in IDL";}xE.prototype=Object.create(f.prototype);xE.prototype.constructor=xE;xE.prototype.lB=xE;xE.mB={};b.btCollisionObjectWrapper=xE;xE.prototype.getWorldTransform=function(){return k(oi(this.kB),r)};xE.prototype.getCollisionObject=function(){return k(pi(this.kB),q)};xE.prototype.getCollisionShape=function(){return k(qi(this.kB),l)};
+function C(a,c){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);this.kB=ri(a,c);h(C)[this.kB]=this}C.prototype=Object.create(u.prototype);C.prototype.constructor=C;C.prototype.lB=C;C.mB={};b.ClosestRayResultCallback=C;C.prototype.hasHit=function(){return!!si(this.kB)};C.prototype.get_m_rayFromWorld=C.prototype.NB=function(){return k(ti(this.kB),m)};C.prototype.set_m_rayFromWorld=C.prototype.XB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ui(c,a)};
+Object.defineProperty(C.prototype,"m_rayFromWorld",{get:C.prototype.NB,set:C.prototype.XB});C.prototype.get_m_rayToWorld=C.prototype.OB=function(){return k(vi(this.kB),m)};C.prototype.set_m_rayToWorld=C.prototype.YB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);wi(c,a)};Object.defineProperty(C.prototype,"m_rayToWorld",{get:C.prototype.OB,set:C.prototype.YB});C.prototype.get_m_hitNormalWorld=C.prototype.xB=function(){return k(xi(this.kB),m)};
+C.prototype.set_m_hitNormalWorld=C.prototype.EB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);yi(c,a)};Object.defineProperty(C.prototype,"m_hitNormalWorld",{get:C.prototype.xB,set:C.prototype.EB});C.prototype.get_m_hitPointWorld=C.prototype.yB=function(){return k(zi(this.kB),m)};C.prototype.set_m_hitPointWorld=C.prototype.FB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ai(c,a)};Object.defineProperty(C.prototype,"m_hitPointWorld",{get:C.prototype.yB,set:C.prototype.FB});
+C.prototype.get_m_collisionFilterGroup=C.prototype.nB=function(){return Bi(this.kB)};C.prototype.set_m_collisionFilterGroup=C.prototype.pB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ci(c,a)};Object.defineProperty(C.prototype,"m_collisionFilterGroup",{get:C.prototype.nB,set:C.prototype.pB});C.prototype.get_m_collisionFilterMask=C.prototype.oB=function(){return Di(this.kB)};
+C.prototype.set_m_collisionFilterMask=C.prototype.qB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ei(c,a)};Object.defineProperty(C.prototype,"m_collisionFilterMask",{get:C.prototype.oB,set:C.prototype.qB});C.prototype.get_m_closestHitFraction=C.prototype.rB=function(){return Fi(this.kB)};C.prototype.set_m_closestHitFraction=C.prototype.sB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Gi(c,a)};Object.defineProperty(C.prototype,"m_closestHitFraction",{get:C.prototype.rB,set:C.prototype.sB});
+C.prototype.get_m_collisionObject=C.prototype.vB=function(){return k(Hi(this.kB),q)};C.prototype.set_m_collisionObject=C.prototype.CB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ii(c,a)};Object.defineProperty(C.prototype,"m_collisionObject",{get:C.prototype.vB,set:C.prototype.CB});C.prototype.get_m_flags=C.prototype.tB=function(){return Ji(this.kB)};C.prototype.set_m_flags=C.prototype.uB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ki(c,a)};
+Object.defineProperty(C.prototype,"m_flags",{get:C.prototype.tB,set:C.prototype.uB});C.prototype.__destroy__=function(){Li(this.kB)};function yE(){throw"cannot construct a btConstCollisionObjectArray, no constructor in IDL";}yE.prototype=Object.create(f.prototype);yE.prototype.constructor=yE;yE.prototype.lB=yE;yE.mB={};b.btConstCollisionObjectArray=yE;yE.prototype.size=yE.prototype.size=function(){return Mi(this.kB)};
+yE.prototype.at=yE.prototype.at=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(Ni(c,a),q)};yE.prototype.__destroy__=function(){Oi(this.kB)};function zE(){throw"cannot construct a btScalarArray, no constructor in IDL";}zE.prototype=Object.create(f.prototype);zE.prototype.constructor=zE;zE.prototype.lB=zE;zE.mB={};b.btScalarArray=zE;zE.prototype.size=zE.prototype.size=function(){return Pi(this.kB)};
+zE.prototype.at=zE.prototype.at=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return Qi(c,a)};zE.prototype.__destroy__=function(){Ri(this.kB)};function D(a,c){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);this.kB=Si(a,c);h(D)[this.kB]=this}D.prototype=Object.create(u.prototype);D.prototype.constructor=D;D.prototype.lB=D;D.mB={};b.AllHitsRayResultCallback=D;D.prototype.hasHit=function(){return!!Ti(this.kB)};
+D.prototype.get_m_collisionObjects=D.prototype.UC=function(){return k(Ui(this.kB),yE)};D.prototype.set_m_collisionObjects=D.prototype.LF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Vi(c,a)};Object.defineProperty(D.prototype,"m_collisionObjects",{get:D.prototype.UC,set:D.prototype.LF});D.prototype.get_m_rayFromWorld=D.prototype.NB=function(){return k(Wi(this.kB),m)};D.prototype.set_m_rayFromWorld=D.prototype.XB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Xi(c,a)};
+Object.defineProperty(D.prototype,"m_rayFromWorld",{get:D.prototype.NB,set:D.prototype.XB});D.prototype.get_m_rayToWorld=D.prototype.OB=function(){return k(Yi(this.kB),m)};D.prototype.set_m_rayToWorld=D.prototype.YB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Zi(c,a)};Object.defineProperty(D.prototype,"m_rayToWorld",{get:D.prototype.OB,set:D.prototype.YB});D.prototype.get_m_hitNormalWorld=D.prototype.xB=function(){return k($i(this.kB),AE)};
+D.prototype.set_m_hitNormalWorld=D.prototype.EB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);aj(c,a)};Object.defineProperty(D.prototype,"m_hitNormalWorld",{get:D.prototype.xB,set:D.prototype.EB});D.prototype.get_m_hitPointWorld=D.prototype.yB=function(){return k(bj(this.kB),AE)};D.prototype.set_m_hitPointWorld=D.prototype.FB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);cj(c,a)};Object.defineProperty(D.prototype,"m_hitPointWorld",{get:D.prototype.yB,set:D.prototype.FB});
+D.prototype.get_m_hitFractions=D.prototype.qD=function(){return k(dj(this.kB),zE)};D.prototype.set_m_hitFractions=D.prototype.hG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ej(c,a)};Object.defineProperty(D.prototype,"m_hitFractions",{get:D.prototype.qD,set:D.prototype.hG});D.prototype.get_m_collisionFilterGroup=D.prototype.nB=function(){return fj(this.kB)};D.prototype.set_m_collisionFilterGroup=D.prototype.pB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);gj(c,a)};
+Object.defineProperty(D.prototype,"m_collisionFilterGroup",{get:D.prototype.nB,set:D.prototype.pB});D.prototype.get_m_collisionFilterMask=D.prototype.oB=function(){return hj(this.kB)};D.prototype.set_m_collisionFilterMask=D.prototype.qB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ij(c,a)};Object.defineProperty(D.prototype,"m_collisionFilterMask",{get:D.prototype.oB,set:D.prototype.qB});D.prototype.get_m_closestHitFraction=D.prototype.rB=function(){return jj(this.kB)};
+D.prototype.set_m_closestHitFraction=D.prototype.sB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);kj(c,a)};Object.defineProperty(D.prototype,"m_closestHitFraction",{get:D.prototype.rB,set:D.prototype.sB});D.prototype.get_m_collisionObject=D.prototype.vB=function(){return k(lj(this.kB),q)};D.prototype.set_m_collisionObject=D.prototype.CB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);mj(c,a)};Object.defineProperty(D.prototype,"m_collisionObject",{get:D.prototype.vB,set:D.prototype.CB});
+D.prototype.get_m_flags=D.prototype.tB=function(){return nj(this.kB)};D.prototype.set_m_flags=D.prototype.uB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);oj(c,a)};Object.defineProperty(D.prototype,"m_flags",{get:D.prototype.tB,set:D.prototype.uB});D.prototype.__destroy__=function(){pj(this.kB)};function E(){throw"cannot construct a btManifoldPoint, no constructor in IDL";}E.prototype=Object.create(f.prototype);E.prototype.constructor=E;E.prototype.lB=E;E.mB={};b.btManifoldPoint=E;
+E.prototype.getPositionWorldOnA=function(){return k(qj(this.kB),m)};E.prototype.getPositionWorldOnB=function(){return k(rj(this.kB),m)};E.prototype.getAppliedImpulse=function(){return sj(this.kB)};E.prototype.getDistance=function(){return tj(this.kB)};E.prototype.get_m_localPointA=E.prototype.GD=function(){return k(uj(this.kB),m)};E.prototype.set_m_localPointA=E.prototype.xG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);vj(c,a)};
+Object.defineProperty(E.prototype,"m_localPointA",{get:E.prototype.GD,set:E.prototype.xG});E.prototype.get_m_localPointB=E.prototype.HD=function(){return k(wj(this.kB),m)};E.prototype.set_m_localPointB=E.prototype.yG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);xj(c,a)};Object.defineProperty(E.prototype,"m_localPointB",{get:E.prototype.HD,set:E.prototype.yG});E.prototype.get_m_positionWorldOnB=E.prototype.YD=function(){return k(yj(this.kB),m)};
+E.prototype.set_m_positionWorldOnB=E.prototype.PG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);zj(c,a)};Object.defineProperty(E.prototype,"m_positionWorldOnB",{get:E.prototype.YD,set:E.prototype.PG});E.prototype.get_m_positionWorldOnA=E.prototype.XD=function(){return k(Aj(this.kB),m)};E.prototype.set_m_positionWorldOnA=E.prototype.OG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Bj(c,a)};Object.defineProperty(E.prototype,"m_positionWorldOnA",{get:E.prototype.XD,set:E.prototype.OG});
+E.prototype.get_m_normalWorldOnB=E.prototype.SD=function(){return k(Cj(this.kB),m)};E.prototype.set_m_normalWorldOnB=E.prototype.JG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Dj(c,a)};Object.defineProperty(E.prototype,"m_normalWorldOnB",{get:E.prototype.SD,set:E.prototype.JG});E.prototype.get_m_userPersistentData=E.prototype.zE=function(){return Ej(this.kB)};E.prototype.set_m_userPersistentData=E.prototype.rH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Fj(c,a)};
+Object.defineProperty(E.prototype,"m_userPersistentData",{get:E.prototype.zE,set:E.prototype.rH});E.prototype.__destroy__=function(){Gj(this.kB)};function BE(){this.kB=Hj();h(BE)[this.kB]=this}BE.prototype=Object.create(eE.prototype);BE.prototype.constructor=BE;BE.prototype.lB=BE;BE.mB={};b.ConcreteContactResultCallback=BE;
+BE.prototype.addSingleResult=function(a,c,d,e,g,n,z){var T=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);g&&"object"===typeof g&&(g=g.kB);n&&"object"===typeof n&&(n=n.kB);z&&"object"===typeof z&&(z=z.kB);return Ij(T,a,c,d,e,g,n,z)};BE.prototype.__destroy__=function(){Jj(this.kB)};function CE(){throw"cannot construct a LocalShapeInfo, no constructor in IDL";}CE.prototype=Object.create(f.prototype);
+CE.prototype.constructor=CE;CE.prototype.lB=CE;CE.mB={};b.LocalShapeInfo=CE;CE.prototype.get_m_shapePart=CE.prototype.gE=function(){return Kj(this.kB)};CE.prototype.set_m_shapePart=CE.prototype.ZG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Lj(c,a)};Object.defineProperty(CE.prototype,"m_shapePart",{get:CE.prototype.gE,set:CE.prototype.ZG});CE.prototype.get_m_triangleIndex=CE.prototype.vE=function(){return Mj(this.kB)};
+CE.prototype.set_m_triangleIndex=CE.prototype.nH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Nj(c,a)};Object.defineProperty(CE.prototype,"m_triangleIndex",{get:CE.prototype.vE,set:CE.prototype.nH});CE.prototype.__destroy__=function(){Oj(this.kB)};function F(a,c,d,e,g){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);g&&"object"===typeof g&&(g=g.kB);this.kB=Pj(a,c,d,e,g);h(F)[this.kB]=this}
+F.prototype=Object.create(f.prototype);F.prototype.constructor=F;F.prototype.lB=F;F.mB={};b.LocalConvexResult=F;F.prototype.get_m_hitCollisionObject=F.prototype.LB=function(){return k(Qj(this.kB),q)};F.prototype.set_m_hitCollisionObject=F.prototype.VB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Rj(c,a)};Object.defineProperty(F.prototype,"m_hitCollisionObject",{get:F.prototype.LB,set:F.prototype.VB});F.prototype.get_m_localShapeInfo=F.prototype.ID=function(){return k(Sj(this.kB),CE)};
+F.prototype.set_m_localShapeInfo=F.prototype.zG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Tj(c,a)};Object.defineProperty(F.prototype,"m_localShapeInfo",{get:F.prototype.ID,set:F.prototype.zG});F.prototype.get_m_hitNormalLocal=F.prototype.sD=function(){return k(Uj(this.kB),m)};F.prototype.set_m_hitNormalLocal=F.prototype.jG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Vj(c,a)};Object.defineProperty(F.prototype,"m_hitNormalLocal",{get:F.prototype.sD,set:F.prototype.jG});
+F.prototype.get_m_hitPointLocal=F.prototype.uD=function(){return k(Wj(this.kB),m)};F.prototype.set_m_hitPointLocal=F.prototype.lG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Xj(c,a)};Object.defineProperty(F.prototype,"m_hitPointLocal",{get:F.prototype.uD,set:F.prototype.lG});F.prototype.get_m_hitFraction=F.prototype.pD=function(){return Yj(this.kB)};F.prototype.set_m_hitFraction=F.prototype.gG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Zj(c,a)};
+Object.defineProperty(F.prototype,"m_hitFraction",{get:F.prototype.pD,set:F.prototype.gG});F.prototype.__destroy__=function(){ak(this.kB)};function G(a,c){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);this.kB=bk(a,c);h(G)[this.kB]=this}G.prototype=Object.create(v.prototype);G.prototype.constructor=G;G.prototype.lB=G;G.mB={};b.ClosestConvexResultCallback=G;G.prototype.hasHit=function(){return!!ck(this.kB)};
+G.prototype.get_m_hitCollisionObject=G.prototype.LB=function(){return k(dk(this.kB),q)};G.prototype.set_m_hitCollisionObject=G.prototype.VB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ek(c,a)};Object.defineProperty(G.prototype,"m_hitCollisionObject",{get:G.prototype.LB,set:G.prototype.VB});G.prototype.get_m_convexFromWorld=G.prototype.ZC=function(){return k(fk(this.kB),m)};
+G.prototype.set_m_convexFromWorld=G.prototype.QF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);gk(c,a)};Object.defineProperty(G.prototype,"m_convexFromWorld",{get:G.prototype.ZC,set:G.prototype.QF});G.prototype.get_m_convexToWorld=G.prototype.$C=function(){return k(hk(this.kB),m)};G.prototype.set_m_convexToWorld=G.prototype.RF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ik(c,a)};Object.defineProperty(G.prototype,"m_convexToWorld",{get:G.prototype.$C,set:G.prototype.RF});
+G.prototype.get_m_hitNormalWorld=G.prototype.xB=function(){return k(jk(this.kB),m)};G.prototype.set_m_hitNormalWorld=G.prototype.EB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);kk(c,a)};Object.defineProperty(G.prototype,"m_hitNormalWorld",{get:G.prototype.xB,set:G.prototype.EB});G.prototype.get_m_hitPointWorld=G.prototype.yB=function(){return k(lk(this.kB),m)};G.prototype.set_m_hitPointWorld=G.prototype.FB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);mk(c,a)};
+Object.defineProperty(G.prototype,"m_hitPointWorld",{get:G.prototype.yB,set:G.prototype.FB});G.prototype.get_m_collisionFilterGroup=G.prototype.nB=function(){return nk(this.kB)};G.prototype.set_m_collisionFilterGroup=G.prototype.pB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ok(c,a)};Object.defineProperty(G.prototype,"m_collisionFilterGroup",{get:G.prototype.nB,set:G.prototype.pB});G.prototype.get_m_collisionFilterMask=G.prototype.oB=function(){return pk(this.kB)};
+G.prototype.set_m_collisionFilterMask=G.prototype.qB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);qk(c,a)};Object.defineProperty(G.prototype,"m_collisionFilterMask",{get:G.prototype.oB,set:G.prototype.qB});G.prototype.get_m_closestHitFraction=G.prototype.rB=function(){return rk(this.kB)};G.prototype.set_m_closestHitFraction=G.prototype.sB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);sk(c,a)};Object.defineProperty(G.prototype,"m_closestHitFraction",{get:G.prototype.rB,set:G.prototype.sB});
+G.prototype.__destroy__=function(){tk(this.kB)};function DE(a,c){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);this.kB=void 0===c?uk(a):vk(a,c);h(DE)[this.kB]=this}DE.prototype=Object.create(fE.prototype);DE.prototype.constructor=DE;DE.prototype.lB=DE;DE.mB={};b.btConvexTriangleMeshShape=DE;DE.prototype.setLocalScaling=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);wk(c,a)};DE.prototype.getLocalScaling=function(){return k(xk(this.kB),m)};
+DE.prototype.calculateLocalInertia=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);yk(d,a,c)};DE.prototype.setMargin=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);zk(c,a)};DE.prototype.getMargin=function(){return Ak(this.kB)};DE.prototype.__destroy__=function(){Bk(this.kB)};function EE(a){a&&"object"===typeof a&&(a=a.kB);this.kB=Ck(a);h(EE)[this.kB]=this}EE.prototype=Object.create(l.prototype);EE.prototype.constructor=EE;EE.prototype.lB=EE;
+EE.mB={};b.btBoxShape=EE;EE.prototype.setMargin=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Dk(c,a)};EE.prototype.getMargin=function(){return Ek(this.kB)};EE.prototype.setLocalScaling=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Fk(c,a)};EE.prototype.getLocalScaling=function(){return k(Gk(this.kB),m)};EE.prototype.calculateLocalInertia=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Hk(d,a,c)};EE.prototype.__destroy__=function(){Ik(this.kB)};
+function FE(a,c){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);this.kB=Jk(a,c);h(FE)[this.kB]=this}FE.prototype=Object.create(gE.prototype);FE.prototype.constructor=FE;FE.prototype.lB=FE;FE.mB={};b.btCapsuleShapeX=FE;FE.prototype.setMargin=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Kk(c,a)};FE.prototype.getMargin=function(){return Lk(this.kB)};FE.prototype.getUpAxis=function(){return Mk(this.kB)};FE.prototype.getRadius=function(){return Nk(this.kB)};
+FE.prototype.getHalfHeight=function(){return Ok(this.kB)};FE.prototype.setLocalScaling=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Pk(c,a)};FE.prototype.getLocalScaling=function(){return k(Qk(this.kB),m)};FE.prototype.calculateLocalInertia=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Rk(d,a,c)};FE.prototype.__destroy__=function(){Sk(this.kB)};
+function GE(a,c){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);this.kB=Tk(a,c);h(GE)[this.kB]=this}GE.prototype=Object.create(gE.prototype);GE.prototype.constructor=GE;GE.prototype.lB=GE;GE.mB={};b.btCapsuleShapeZ=GE;GE.prototype.setMargin=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Uk(c,a)};GE.prototype.getMargin=function(){return Vk(this.kB)};GE.prototype.getUpAxis=function(){return Wk(this.kB)};GE.prototype.getRadius=function(){return Xk(this.kB)};
+GE.prototype.getHalfHeight=function(){return Yk(this.kB)};GE.prototype.setLocalScaling=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Zk(c,a)};GE.prototype.getLocalScaling=function(){return k($k(this.kB),m)};GE.prototype.calculateLocalInertia=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);al(d,a,c)};GE.prototype.__destroy__=function(){bl(this.kB)};function HE(a){a&&"object"===typeof a&&(a=a.kB);this.kB=cl(a);h(HE)[this.kB]=this}
+HE.prototype=Object.create(hE.prototype);HE.prototype.constructor=HE;HE.prototype.lB=HE;HE.mB={};b.btCylinderShapeX=HE;HE.prototype.setMargin=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);dl(c,a)};HE.prototype.getMargin=function(){return el(this.kB)};HE.prototype.setLocalScaling=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);fl(c,a)};HE.prototype.getLocalScaling=function(){return k(gl(this.kB),m)};
+HE.prototype.calculateLocalInertia=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);hl(d,a,c)};HE.prototype.__destroy__=function(){il(this.kB)};function IE(a){a&&"object"===typeof a&&(a=a.kB);this.kB=jl(a);h(IE)[this.kB]=this}IE.prototype=Object.create(hE.prototype);IE.prototype.constructor=IE;IE.prototype.lB=IE;IE.mB={};b.btCylinderShapeZ=IE;IE.prototype.setMargin=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);kl(c,a)};
+IE.prototype.getMargin=function(){return ll(this.kB)};IE.prototype.setLocalScaling=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ml(c,a)};IE.prototype.getLocalScaling=function(){return k(nl(this.kB),m)};IE.prototype.calculateLocalInertia=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);ol(d,a,c)};IE.prototype.__destroy__=function(){pl(this.kB)};function JE(a){a&&"object"===typeof a&&(a=a.kB);this.kB=ql(a);h(JE)[this.kB]=this}JE.prototype=Object.create(l.prototype);
+JE.prototype.constructor=JE;JE.prototype.lB=JE;JE.mB={};b.btSphereShape=JE;JE.prototype.setMargin=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);rl(c,a)};JE.prototype.getMargin=function(){return sl(this.kB)};JE.prototype.setLocalScaling=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);tl(c,a)};JE.prototype.getLocalScaling=function(){return k(ul(this.kB),m)};
+JE.prototype.calculateLocalInertia=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);vl(d,a,c)};JE.prototype.__destroy__=function(){wl(this.kB)};function KE(a,c,d){ND();a&&"object"===typeof a&&(a=a.kB);"object"==typeof c&&(c=RD(c));d&&"object"===typeof d&&(d=d.kB);this.kB=xl(a,c,d);h(KE)[this.kB]=this}KE.prototype=Object.create(l.prototype);KE.prototype.constructor=KE;KE.prototype.lB=KE;KE.mB={};b.btMultiSphereShape=KE;
+KE.prototype.setLocalScaling=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);yl(c,a)};KE.prototype.getLocalScaling=function(){return k(zl(this.kB),m)};KE.prototype.calculateLocalInertia=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Al(d,a,c)};KE.prototype.__destroy__=function(){Bl(this.kB)};function LE(a,c){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);this.kB=Cl(a,c);h(LE)[this.kB]=this}LE.prototype=Object.create(iE.prototype);
+LE.prototype.constructor=LE;LE.prototype.lB=LE;LE.mB={};b.btConeShapeX=LE;LE.prototype.setLocalScaling=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Dl(c,a)};LE.prototype.getLocalScaling=function(){return k(El(this.kB),m)};LE.prototype.calculateLocalInertia=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Fl(d,a,c)};LE.prototype.__destroy__=function(){Gl(this.kB)};
+function ME(a,c){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);this.kB=Hl(a,c);h(ME)[this.kB]=this}ME.prototype=Object.create(iE.prototype);ME.prototype.constructor=ME;ME.prototype.lB=ME;ME.mB={};b.btConeShapeZ=ME;ME.prototype.setLocalScaling=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Il(c,a)};ME.prototype.getLocalScaling=function(){return k(Jl(this.kB),m)};
+ME.prototype.calculateLocalInertia=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Kl(d,a,c)};ME.prototype.__destroy__=function(){Ll(this.kB)};function NE(){throw"cannot construct a btIntArray, no constructor in IDL";}NE.prototype=Object.create(f.prototype);NE.prototype.constructor=NE;NE.prototype.lB=NE;NE.mB={};b.btIntArray=NE;NE.prototype.size=NE.prototype.size=function(){return Ml(this.kB)};
+NE.prototype.at=NE.prototype.at=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return Nl(c,a)};NE.prototype.__destroy__=function(){Ol(this.kB)};function OE(){throw"cannot construct a btFace, no constructor in IDL";}OE.prototype=Object.create(f.prototype);OE.prototype.constructor=OE;OE.prototype.lB=OE;OE.mB={};b.btFace=OE;OE.prototype.get_m_indices=OE.prototype.xD=function(){return k(Pl(this.kB),NE)};
+OE.prototype.set_m_indices=OE.prototype.oG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ql(c,a)};Object.defineProperty(OE.prototype,"m_indices",{get:OE.prototype.xD,set:OE.prototype.oG});OE.prototype.get_m_plane=OE.prototype.WD=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return Rl(c,a)};OE.prototype.set_m_plane=OE.prototype.NG=function(a,c){var d=this.kB;ND();a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Sl(d,a,c)};
+Object.defineProperty(OE.prototype,"m_plane",{get:OE.prototype.WD,set:OE.prototype.NG});OE.prototype.__destroy__=function(){Tl(this.kB)};function AE(){throw"cannot construct a btVector3Array, no constructor in IDL";}AE.prototype=Object.create(f.prototype);AE.prototype.constructor=AE;AE.prototype.lB=AE;AE.mB={};b.btVector3Array=AE;AE.prototype.size=AE.prototype.size=function(){return Ul(this.kB)};
+AE.prototype.at=AE.prototype.at=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(Vl(c,a),m)};AE.prototype.__destroy__=function(){Wl(this.kB)};function PE(){throw"cannot construct a btFaceArray, no constructor in IDL";}PE.prototype=Object.create(f.prototype);PE.prototype.constructor=PE;PE.prototype.lB=PE;PE.mB={};b.btFaceArray=PE;PE.prototype.size=PE.prototype.size=function(){return Xl(this.kB)};
+PE.prototype.at=PE.prototype.at=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(Yl(c,a),OE)};PE.prototype.__destroy__=function(){Zl(this.kB)};function QE(){throw"cannot construct a btConvexPolyhedron, no constructor in IDL";}QE.prototype=Object.create(f.prototype);QE.prototype.constructor=QE;QE.prototype.lB=QE;QE.mB={};b.btConvexPolyhedron=QE;QE.prototype.get_m_vertices=QE.prototype.BE=function(){return k($l(this.kB),AE)};
+QE.prototype.set_m_vertices=QE.prototype.tH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);am(c,a)};Object.defineProperty(QE.prototype,"m_vertices",{get:QE.prototype.BE,set:QE.prototype.tH});QE.prototype.get_m_faces=QE.prototype.KB=function(){return k(bm(this.kB),PE)};QE.prototype.set_m_faces=QE.prototype.UB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);cm(c,a)};Object.defineProperty(QE.prototype,"m_faces",{get:QE.prototype.KB,set:QE.prototype.UB});
+QE.prototype.__destroy__=function(){dm(this.kB)};function RE(a,c){ND();"object"==typeof a&&(a=RD(a));c&&"object"===typeof c&&(c=c.kB);this.kB=void 0===a?em():void 0===c?fm(a):gm(a,c);h(RE)[this.kB]=this}RE.prototype=Object.create(l.prototype);RE.prototype.constructor=RE;RE.prototype.lB=RE;RE.mB={};b.btConvexHullShape=RE;RE.prototype.addPoint=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);void 0===c?hm(d,a):im(d,a,c)};
+RE.prototype.setMargin=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);jm(c,a)};RE.prototype.getMargin=function(){return km(this.kB)};RE.prototype.getNumVertices=function(){return lm(this.kB)};RE.prototype.initializePolyhedralFeatures=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return!!mm(c,a)};RE.prototype.recalcLocalAabb=function(){nm(this.kB)};RE.prototype.getConvexPolyhedron=function(){return k(om(this.kB),QE)};
+RE.prototype.setLocalScaling=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);pm(c,a)};RE.prototype.getLocalScaling=function(){return k(qm(this.kB),m)};RE.prototype.calculateLocalInertia=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);rm(d,a,c)};RE.prototype.__destroy__=function(){sm(this.kB)};function SE(a){a&&"object"===typeof a&&(a=a.kB);this.kB=tm(a);h(SE)[this.kB]=this}SE.prototype=Object.create(f.prototype);SE.prototype.constructor=SE;
+SE.prototype.lB=SE;SE.mB={};b.btShapeHull=SE;SE.prototype.buildHull=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return!!um(c,a)};SE.prototype.numVertices=function(){return wm(this.kB)};SE.prototype.getVertexPointer=function(){return k(xm(this.kB),m)};SE.prototype.__destroy__=function(){ym(this.kB)};function TE(a){a&&"object"===typeof a&&(a=a.kB);this.kB=void 0===a?zm():Am(a);h(TE)[this.kB]=this}TE.prototype=Object.create(l.prototype);TE.prototype.constructor=TE;TE.prototype.lB=TE;
+TE.mB={};b.btCompoundShape=TE;TE.prototype.addChildShape=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Bm(d,a,c)};TE.prototype.removeChildShape=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Cm(c,a)};TE.prototype.removeChildShapeByIndex=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Dm(c,a)};TE.prototype.getNumChildShapes=function(){return Em(this.kB)};
+TE.prototype.getChildShape=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(Fm(c,a),l)};TE.prototype.updateChildTransform=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);void 0===d?Gm(e,a,c):Hm(e,a,c,d)};TE.prototype.setMargin=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Im(c,a)};TE.prototype.getMargin=function(){return Jm(this.kB)};
+TE.prototype.setLocalScaling=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Km(c,a)};TE.prototype.getLocalScaling=function(){return k(Lm(this.kB),m)};TE.prototype.calculateLocalInertia=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Mm(d,a,c)};TE.prototype.__destroy__=function(){Nm(this.kB)};function UE(){throw"cannot construct a btIndexedMesh, no constructor in IDL";}UE.prototype=Object.create(f.prototype);UE.prototype.constructor=UE;
+UE.prototype.lB=UE;UE.mB={};b.btIndexedMesh=UE;UE.prototype.get_m_numTriangles=UE.prototype.UD=function(){return Om(this.kB)};UE.prototype.set_m_numTriangles=UE.prototype.LG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Pm(c,a)};Object.defineProperty(UE.prototype,"m_numTriangles",{get:UE.prototype.UD,set:UE.prototype.LG});UE.prototype.__destroy__=function(){Qm(this.kB)};function VE(){throw"cannot construct a btIndexedMeshArray, no constructor in IDL";}VE.prototype=Object.create(f.prototype);
+VE.prototype.constructor=VE;VE.prototype.lB=VE;VE.mB={};b.btIndexedMeshArray=VE;VE.prototype.size=VE.prototype.size=function(){return Rm(this.kB)};VE.prototype.at=VE.prototype.at=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(Sm(c,a),UE)};VE.prototype.__destroy__=function(){Tm(this.kB)};function WE(a,c){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);this.kB=void 0===a?Um():void 0===c?Vm(a):Wm(a,c);h(WE)[this.kB]=this}WE.prototype=Object.create(jE.prototype);
+WE.prototype.constructor=WE;WE.prototype.lB=WE;WE.mB={};b.btTriangleMesh=WE;WE.prototype.addTriangle=function(a,c,d,e){var g=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);void 0===e?Xm(g,a,c,d):Ym(g,a,c,d,e)};WE.prototype.findOrAddVertex=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);return Zm(d,a,c)};
+WE.prototype.addIndex=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);$m(c,a)};WE.prototype.getIndexedMeshArray=function(){return k(an(this.kB),VE)};WE.prototype.setScaling=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);bn(c,a)};WE.prototype.__destroy__=function(){cn(this.kB)};function XE(){this.kB=dn();h(XE)[this.kB]=this}XE.prototype=Object.create(ZD.prototype);XE.prototype.constructor=XE;XE.prototype.lB=XE;XE.mB={};b.btEmptyShape=XE;
+XE.prototype.setLocalScaling=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);en(c,a)};XE.prototype.getLocalScaling=function(){return k(fn(this.kB),m)};XE.prototype.calculateLocalInertia=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);gn(d,a,c)};XE.prototype.__destroy__=function(){hn(this.kB)};function YE(a,c){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);this.kB=jn(a,c);h(YE)[this.kB]=this}YE.prototype=Object.create(ZD.prototype);
+YE.prototype.constructor=YE;YE.prototype.lB=YE;YE.mB={};b.btStaticPlaneShape=YE;YE.prototype.setLocalScaling=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);kn(c,a)};YE.prototype.getLocalScaling=function(){return k(ln(this.kB),m)};YE.prototype.calculateLocalInertia=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);mn(d,a,c)};YE.prototype.__destroy__=function(){nn(this.kB)};
+function ZE(a,c,d){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);this.kB=void 0===d?on(a,c):pn(a,c,d);h(ZE)[this.kB]=this}ZE.prototype=Object.create(kE.prototype);ZE.prototype.constructor=ZE;ZE.prototype.lB=ZE;ZE.mB={};b.btBvhTriangleMeshShape=ZE;ZE.prototype.setLocalScaling=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);qn(c,a)};ZE.prototype.getLocalScaling=function(){return k(rn(this.kB),m)};
+ZE.prototype.calculateLocalInertia=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);sn(d,a,c)};ZE.prototype.__destroy__=function(){tn(this.kB)};
+function $E(a,c,d,e,g,n,z,T,Da){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);g&&"object"===typeof g&&(g=g.kB);n&&"object"===typeof n&&(n=n.kB);z&&"object"===typeof z&&(z=z.kB);T&&"object"===typeof T&&(T=T.kB);Da&&"object"===typeof Da&&(Da=Da.kB);this.kB=un(a,c,d,e,g,n,z,T,Da);h($E)[this.kB]=this}$E.prototype=Object.create(ZD.prototype);$E.prototype.constructor=$E;$E.prototype.lB=$E;$E.mB={};
+b.btHeightfieldTerrainShape=$E;$E.prototype.setMargin=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);vn(c,a)};$E.prototype.getMargin=function(){return wn(this.kB)};$E.prototype.setLocalScaling=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);xn(c,a)};$E.prototype.getLocalScaling=function(){return k(yn(this.kB),m)};$E.prototype.calculateLocalInertia=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);zn(d,a,c)};
+$E.prototype.__destroy__=function(){An(this.kB)};function aF(a,c,d,e){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);this.kB=Bn(a,c,d,e);h(aF)[this.kB]=this}aF.prototype=Object.create(f.prototype);aF.prototype.constructor=aF;aF.prototype.lB=aF;aF.mB={};b.btAABB=aF;aF.prototype.invalidate=function(){Cn(this.kB)};aF.prototype.increment_margin=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Dn(c,a)};
+aF.prototype.copy_with_margin=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);En(d,a,c)};aF.prototype.__destroy__=function(){Fn(this.kB)};function bF(){this.kB=Gn();h(bF)[this.kB]=this}bF.prototype=Object.create(f.prototype);bF.prototype.constructor=bF;bF.prototype.lB=bF;bF.mB={};b.btPrimitiveTriangle=bF;bF.prototype.__destroy__=function(){Hn(this.kB)};
+function cF(a,c,d){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);this.kB=In(a,c,d);h(cF)[this.kB]=this}cF.prototype=Object.create(f.prototype);cF.prototype.constructor=cF;cF.prototype.lB=cF;cF.mB={};b.btTriangleShapeEx=cF;cF.prototype.getAabb=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);Jn(e,a,c,d)};
+cF.prototype.applyTransform=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Kn(c,a)};cF.prototype.buildTriPlane=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ln(c,a)};cF.prototype.__destroy__=function(){Mn(this.kB)};function dF(){this.kB=Nn();h(dF)[this.kB]=this}dF.prototype=Object.create(f.prototype);dF.prototype.constructor=dF;dF.prototype.lB=dF;dF.mB={};b.btTetrahedronShapeEx=dF;
+dF.prototype.setVertices=function(a,c,d,e){var g=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);On(g,a,c,d,e)};dF.prototype.__destroy__=function(){Pn(this.kB)};function eF(){throw"cannot construct a CompoundPrimitiveManager, no constructor in IDL";}eF.prototype=Object.create(lE.prototype);eF.prototype.constructor=eF;eF.prototype.lB=eF;eF.mB={};b.CompoundPrimitiveManager=eF;
+eF.prototype.get_primitive_count=function(){return Qn(this.kB)};eF.prototype.get_primitive_box=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Rn(d,a,c)};eF.prototype.get_primitive_triangle=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Sn(d,a,c)};eF.prototype.is_trimesh=function(){return!!Tn(this.kB)};eF.prototype.get_m_compoundShape=eF.prototype.VC=function(){return k(Un(this.kB),H)};
+eF.prototype.set_m_compoundShape=eF.prototype.MF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Vn(c,a)};Object.defineProperty(eF.prototype,"m_compoundShape",{get:eF.prototype.VC,set:eF.prototype.MF});eF.prototype.__destroy__=function(){Wn(this.kB)};function H(a){a&&"object"===typeof a&&(a=a.kB);this.kB=void 0===a?Xn():Yn(a);h(H)[this.kB]=this}H.prototype=Object.create(w.prototype);H.prototype.constructor=H;H.prototype.lB=H;H.mB={};b.btGImpactCompoundShape=H;
+H.prototype.childrenHasTransform=function(){return!!Zn(this.kB)};H.prototype.getPrimitiveManager=function(){return k($n(this.kB),lE)};H.prototype.getCompoundPrimitiveManager=function(){return k(ao(this.kB),eF)};H.prototype.getNumChildShapes=function(){return bo(this.kB)};H.prototype.addChildShape=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);co(d,a,c)};
+H.prototype.getChildShape=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(eo(c,a),l)};H.prototype.getChildAabb=function(a,c,d,e){var g=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);fo(g,a,c,d,e)};H.prototype.getChildTransform=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(go(c,a),r)};
+H.prototype.setChildTransform=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);ho(d,a,c)};H.prototype.calculateLocalInertia=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);io(d,a,c)};H.prototype.getName=function(){return sa(jo(this.kB))};H.prototype.getGImpactShapeType=function(){return ko(this.kB)};H.prototype.setLocalScaling=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);lo(c,a)};
+H.prototype.getLocalScaling=function(){return k(mo(this.kB),m)};H.prototype.updateBound=function(){no(this.kB)};H.prototype.postUpdate=function(){oo(this.kB)};H.prototype.getShapeType=function(){return po(this.kB)};H.prototype.needsRetrieveTriangles=function(){return!!qo(this.kB)};H.prototype.needsRetrieveTetrahedrons=function(){return!!ro(this.kB)};H.prototype.getBulletTriangle=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);so(d,a,c)};
+H.prototype.getBulletTetrahedron=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);to(d,a,c)};H.prototype.__destroy__=function(){uo(this.kB)};function I(a){a&&"object"===typeof a&&(a=a.kB);this.kB=void 0===a?vo():wo(a);h(I)[this.kB]=this}I.prototype=Object.create(lE.prototype);I.prototype.constructor=I;I.prototype.lB=I;I.mB={};b.TrimeshPrimitiveManager=I;I.prototype.lock=I.prototype.lock=function(){xo(this.kB)};I.prototype.unlock=I.prototype.unlock=function(){yo(this.kB)};
+I.prototype.is_trimesh=function(){return!!zo(this.kB)};I.prototype.get_vertex_count=function(){return Ao(this.kB)};I.prototype.get_indices=function(a,c,d,e){var g=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);Bo(g,a,c,d,e)};I.prototype.get_vertex=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Co(d,a,c)};
+I.prototype.get_bullet_triangle=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Do(d,a,c)};I.prototype.get_m_margin=I.prototype.LD=function(){return Eo(this.kB)};I.prototype.set_m_margin=I.prototype.CG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Fo(c,a)};Object.defineProperty(I.prototype,"m_margin",{get:I.prototype.LD,set:I.prototype.CG});I.prototype.get_m_meshInterface=I.prototype.OD=function(){return k(Go(this.kB),jE)};
+I.prototype.set_m_meshInterface=I.prototype.FG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ho(c,a)};Object.defineProperty(I.prototype,"m_meshInterface",{get:I.prototype.OD,set:I.prototype.FG});I.prototype.get_m_part=I.prototype.VD=function(){return Io(this.kB)};I.prototype.set_m_part=I.prototype.MG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Jo(c,a)};Object.defineProperty(I.prototype,"m_part",{get:I.prototype.VD,set:I.prototype.MG});
+I.prototype.get_m_lock_count=I.prototype.JD=function(){return Ko(this.kB)};I.prototype.set_m_lock_count=I.prototype.AG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Lo(c,a)};Object.defineProperty(I.prototype,"m_lock_count",{get:I.prototype.JD,set:I.prototype.AG});I.prototype.get_numverts=I.prototype.LE=function(){return Mo(this.kB)};I.prototype.set_numverts=I.prototype.DH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);No(c,a)};
+Object.defineProperty(I.prototype,"numverts",{get:I.prototype.LE,set:I.prototype.DH});I.prototype.get_type=I.prototype.PE=function(){return Oo(this.kB)};I.prototype.set_type=I.prototype.HH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Po(c,a)};Object.defineProperty(I.prototype,"type",{get:I.prototype.PE,set:I.prototype.HH});I.prototype.get_stride=I.prototype.NE=function(){return Qo(this.kB)};
+I.prototype.set_stride=I.prototype.FH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ro(c,a)};Object.defineProperty(I.prototype,"stride",{get:I.prototype.NE,set:I.prototype.FH});I.prototype.get_indexstride=I.prototype.gC=function(){return So(this.kB)};I.prototype.set_indexstride=I.prototype.YE=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);To(c,a)};Object.defineProperty(I.prototype,"indexstride",{get:I.prototype.gC,set:I.prototype.YE});
+I.prototype.get_numfaces=I.prototype.KE=function(){return Uo(this.kB)};I.prototype.set_numfaces=I.prototype.CH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Vo(c,a)};Object.defineProperty(I.prototype,"numfaces",{get:I.prototype.KE,set:I.prototype.CH});I.prototype.get_indicestype=I.prototype.hC=function(){return Wo(this.kB)};I.prototype.set_indicestype=I.prototype.ZE=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Xo(c,a)};
+Object.defineProperty(I.prototype,"indicestype",{get:I.prototype.hC,set:I.prototype.ZE});I.prototype.__destroy__=function(){Yo(this.kB)};function fF(a,c){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);this.kB=Zo(a,c);h(fF)[this.kB]=this}fF.prototype=Object.create(w.prototype);fF.prototype.constructor=fF;fF.prototype.lB=fF;fF.mB={};b.btGImpactMeshShapePart=fF;fF.prototype.getTrimeshPrimitiveManager=function(){return k($o(this.kB),I)};fF.prototype.getVertexCount=function(){return ap(this.kB)};
+fF.prototype.getVertex=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);bp(d,a,c)};fF.prototype.getPart=function(){return cp(this.kB)};fF.prototype.setLocalScaling=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);dp(c,a)};fF.prototype.getLocalScaling=function(){return k(ep(this.kB),m)};fF.prototype.updateBound=function(){fp(this.kB)};fF.prototype.postUpdate=function(){gp(this.kB)};fF.prototype.getShapeType=function(){return hp(this.kB)};
+fF.prototype.needsRetrieveTriangles=function(){return!!ip(this.kB)};fF.prototype.needsRetrieveTetrahedrons=function(){return!!jp(this.kB)};fF.prototype.getBulletTriangle=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);kp(d,a,c)};fF.prototype.getBulletTetrahedron=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);lp(d,a,c)};fF.prototype.__destroy__=function(){mp(this.kB)};
+function gF(a){a&&"object"===typeof a&&(a=a.kB);this.kB=np(a);h(gF)[this.kB]=this}gF.prototype=Object.create(w.prototype);gF.prototype.constructor=gF;gF.prototype.lB=gF;gF.mB={};b.btGImpactMeshShape=gF;gF.prototype.getMeshInterface=function(){return k(op(this.kB),jE)};gF.prototype.getMeshPartCount=function(){return pp(this.kB)};gF.prototype.getMeshPart=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(qp(c,a),fF)};gF.prototype.calculateSerializeBufferSize=function(){return rp(this.kB)};
+gF.prototype.setLocalScaling=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);sp(c,a)};gF.prototype.getLocalScaling=function(){return k(tp(this.kB),m)};gF.prototype.updateBound=function(){up(this.kB)};gF.prototype.postUpdate=function(){vp(this.kB)};gF.prototype.getShapeType=function(){return wp(this.kB)};gF.prototype.needsRetrieveTriangles=function(){return!!xp(this.kB)};gF.prototype.needsRetrieveTetrahedrons=function(){return!!yp(this.kB)};
+gF.prototype.getBulletTriangle=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);zp(d,a,c)};gF.prototype.getBulletTetrahedron=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Ap(d,a,c)};gF.prototype.__destroy__=function(){Bp(this.kB)};
+function hF(a,c){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);this.kB=void 0===a?Cp():void 0===c?_emscripten_bind_btCollisionAlgorithmConstructionInfo_btCollisionAlgorithmConstructionInfo_1(a):Dp(a,c);h(hF)[this.kB]=this}hF.prototype=Object.create(f.prototype);hF.prototype.constructor=hF;hF.prototype.lB=hF;hF.mB={};b.btCollisionAlgorithmConstructionInfo=hF;hF.prototype.get_m_dispatcher1=hF.prototype.eD=function(){return k(Ep(this.kB),TD)};
+hF.prototype.set_m_dispatcher1=hF.prototype.WF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Fp(c,a)};Object.defineProperty(hF.prototype,"m_dispatcher1",{get:hF.prototype.eD,set:hF.prototype.WF});hF.prototype.get_m_manifold=hF.prototype.KD=function(){return k(Gp(this.kB),oE)};hF.prototype.set_m_manifold=hF.prototype.BG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Hp(c,a)};Object.defineProperty(hF.prototype,"m_manifold",{get:hF.prototype.KD,set:hF.prototype.BG});
+hF.prototype.__destroy__=function(){Ip(this.kB)};function iF(a,c,d){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);this.kB=Jp(a,c,d);h(iF)[this.kB]=this}iF.prototype=Object.create(mE.prototype);iF.prototype.constructor=iF;iF.prototype.lB=iF;iF.mB={};b.btGImpactCollisionAlgorithm=iF;iF.prototype.registerAlgorithm=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Kp(c,a)};iF.prototype.__destroy__=function(){Lp(this.kB)};
+function jF(){this.kB=Mp();h(jF)[this.kB]=this}jF.prototype=Object.create(f.prototype);jF.prototype.constructor=jF;jF.prototype.lB=jF;jF.mB={};b.btDefaultCollisionConstructionInfo=jF;jF.prototype.__destroy__=function(){Np(this.kB)};function oE(){this.kB=Op();h(oE)[this.kB]=this}oE.prototype=Object.create(f.prototype);oE.prototype.constructor=oE;oE.prototype.lB=oE;oE.mB={};b.btPersistentManifold=oE;oE.prototype.getBody0=function(){return k(Pp(this.kB),q)};
+oE.prototype.getBody1=function(){return k(Qp(this.kB),q)};oE.prototype.getNumContacts=function(){return Rp(this.kB)};oE.prototype.getContactPoint=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(Sp(c,a),E)};oE.prototype.__destroy__=function(){Tp(this.kB)};function kF(a){a&&"object"===typeof a&&(a=a.kB);this.kB=Up(a);h(kF)[this.kB]=this}kF.prototype=Object.create(TD.prototype);kF.prototype.constructor=kF;kF.prototype.lB=kF;kF.mB={};b.btCollisionDispatcher=kF;
+kF.prototype.getNumManifolds=function(){return Vp(this.kB)};kF.prototype.getManifoldByIndexInternal=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(Wp(c,a),oE)};kF.prototype.__destroy__=function(){Xp(this.kB)};function lF(){throw"cannot construct a btOverlappingPairCallback, no constructor in IDL";}lF.prototype=Object.create(f.prototype);lF.prototype.constructor=lF;lF.prototype.lB=lF;lF.mB={};b.btOverlappingPairCallback=lF;lF.prototype.__destroy__=function(){Yp(this.kB)};
+function UD(){throw"cannot construct a btOverlappingPairCache, no constructor in IDL";}UD.prototype=Object.create(f.prototype);UD.prototype.constructor=UD;UD.prototype.lB=UD;UD.mB={};b.btOverlappingPairCache=UD;UD.prototype.setInternalGhostPairCallback=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Zp(c,a)};UD.prototype.getNumOverlappingPairs=function(){return $p(this.kB)};UD.prototype.__destroy__=function(){aq(this.kB)};
+function mF(a,c,d,e,g){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);g&&"object"===typeof g&&(g=g.kB);this.kB=void 0===d?bq(a,c):void 0===e?cq(a,c,d):void 0===g?dq(a,c,d,e):eq(a,c,d,e,g);h(mF)[this.kB]=this}mF.prototype=Object.create(f.prototype);mF.prototype.constructor=mF;mF.prototype.lB=mF;mF.mB={};b.btAxisSweep3=mF;mF.prototype.__destroy__=function(){fq(this.kB)};
+function VD(){throw"cannot construct a btBroadphaseInterface, no constructor in IDL";}VD.prototype=Object.create(f.prototype);VD.prototype.constructor=VD;VD.prototype.lB=VD;VD.mB={};b.btBroadphaseInterface=VD;VD.prototype.getOverlappingPairCache=function(){return k(gq(this.kB),UD)};VD.prototype.__destroy__=function(){hq(this.kB)};function nF(){throw"cannot construct a btCollisionConfiguration, no constructor in IDL";}nF.prototype=Object.create(f.prototype);nF.prototype.constructor=nF;
+nF.prototype.lB=nF;nF.mB={};b.btCollisionConfiguration=nF;nF.prototype.__destroy__=function(){iq(this.kB)};function oF(){this.kB=jq();h(oF)[this.kB]=this}oF.prototype=Object.create(f.prototype);oF.prototype.constructor=oF;oF.prototype.lB=oF;oF.mB={};b.btDbvtBroadphase=oF;oF.prototype.__destroy__=function(){kq(this.kB)};function YD(){throw"cannot construct a btBroadphaseProxy, no constructor in IDL";}YD.prototype=Object.create(f.prototype);YD.prototype.constructor=YD;YD.prototype.lB=YD;YD.mB={};
+b.btBroadphaseProxy=YD;YD.prototype.get_m_collisionFilterGroup=YD.prototype.nB=function(){return lq(this.kB)};YD.prototype.set_m_collisionFilterGroup=YD.prototype.pB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);mq(c,a)};Object.defineProperty(YD.prototype,"m_collisionFilterGroup",{get:YD.prototype.nB,set:YD.prototype.pB});YD.prototype.get_m_collisionFilterMask=YD.prototype.oB=function(){return nq(this.kB)};
+YD.prototype.set_m_collisionFilterMask=YD.prototype.qB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);oq(c,a)};Object.defineProperty(YD.prototype,"m_collisionFilterMask",{get:YD.prototype.oB,set:YD.prototype.qB});YD.prototype.__destroy__=function(){pq(this.kB)};function J(a,c,d,e){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);this.kB=void 0===e?qq(a,c,d):rq(a,c,d,e);h(J)[this.kB]=this}J.prototype=Object.create(f.prototype);
+J.prototype.constructor=J;J.prototype.lB=J;J.mB={};b.btRigidBodyConstructionInfo=J;J.prototype.get_m_linearDamping=J.prototype.DD=function(){return sq(this.kB)};J.prototype.set_m_linearDamping=J.prototype.uG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);tq(c,a)};Object.defineProperty(J.prototype,"m_linearDamping",{get:J.prototype.DD,set:J.prototype.uG});J.prototype.get_m_angularDamping=J.prototype.HC=function(){return uq(this.kB)};
+J.prototype.set_m_angularDamping=J.prototype.yF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);vq(c,a)};Object.defineProperty(J.prototype,"m_angularDamping",{get:J.prototype.HC,set:J.prototype.yF});J.prototype.get_m_friction=J.prototype.kD=function(){return wq(this.kB)};J.prototype.set_m_friction=J.prototype.bG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);xq(c,a)};Object.defineProperty(J.prototype,"m_friction",{get:J.prototype.kD,set:J.prototype.bG});
+J.prototype.get_m_rollingFriction=J.prototype.dE=function(){return yq(this.kB)};J.prototype.set_m_rollingFriction=J.prototype.WG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);zq(c,a)};Object.defineProperty(J.prototype,"m_rollingFriction",{get:J.prototype.dE,set:J.prototype.WG});J.prototype.get_m_restitution=J.prototype.bE=function(){return Aq(this.kB)};J.prototype.set_m_restitution=J.prototype.UG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Bq(c,a)};
+Object.defineProperty(J.prototype,"m_restitution",{get:J.prototype.bE,set:J.prototype.UG});J.prototype.get_m_linearSleepingThreshold=J.prototype.ED=function(){return Cq(this.kB)};J.prototype.set_m_linearSleepingThreshold=J.prototype.vG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Dq(c,a)};Object.defineProperty(J.prototype,"m_linearSleepingThreshold",{get:J.prototype.ED,set:J.prototype.vG});J.prototype.get_m_angularSleepingThreshold=J.prototype.IC=function(){return Eq(this.kB)};
+J.prototype.set_m_angularSleepingThreshold=J.prototype.zF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Fq(c,a)};Object.defineProperty(J.prototype,"m_angularSleepingThreshold",{get:J.prototype.IC,set:J.prototype.zF});J.prototype.get_m_additionalDamping=J.prototype.CC=function(){return!!Gq(this.kB)};J.prototype.set_m_additionalDamping=J.prototype.tF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Hq(c,a)};
+Object.defineProperty(J.prototype,"m_additionalDamping",{get:J.prototype.CC,set:J.prototype.tF});J.prototype.get_m_additionalDampingFactor=J.prototype.DC=function(){return Iq(this.kB)};J.prototype.set_m_additionalDampingFactor=J.prototype.uF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Jq(c,a)};Object.defineProperty(J.prototype,"m_additionalDampingFactor",{get:J.prototype.DC,set:J.prototype.uF});J.prototype.get_m_additionalLinearDampingThresholdSqr=J.prototype.EC=function(){return Kq(this.kB)};
+J.prototype.set_m_additionalLinearDampingThresholdSqr=J.prototype.vF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Lq(c,a)};Object.defineProperty(J.prototype,"m_additionalLinearDampingThresholdSqr",{get:J.prototype.EC,set:J.prototype.vF});J.prototype.get_m_additionalAngularDampingThresholdSqr=J.prototype.BC=function(){return Mq(this.kB)};J.prototype.set_m_additionalAngularDampingThresholdSqr=J.prototype.sF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Nq(c,a)};
+Object.defineProperty(J.prototype,"m_additionalAngularDampingThresholdSqr",{get:J.prototype.BC,set:J.prototype.sF});J.prototype.get_m_additionalAngularDampingFactor=J.prototype.AC=function(){return Oq(this.kB)};J.prototype.set_m_additionalAngularDampingFactor=J.prototype.rF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Pq(c,a)};Object.defineProperty(J.prototype,"m_additionalAngularDampingFactor",{get:J.prototype.AC,set:J.prototype.rF});J.prototype.__destroy__=function(){Qq(this.kB)};
+function K(a){a&&"object"===typeof a&&(a=a.kB);this.kB=Rq(a);h(K)[this.kB]=this}K.prototype=Object.create(q.prototype);K.prototype.constructor=K;K.prototype.lB=K;K.mB={};b.btRigidBody=K;K.prototype.getCenterOfMassTransform=function(){return k(Sq(this.kB),r)};K.prototype.setCenterOfMassTransform=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Tq(c,a)};K.prototype.setSleepingThresholds=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Uq(d,a,c)};
+K.prototype.getLinearDamping=function(){return Vq(this.kB)};K.prototype.getAngularDamping=function(){return Wq(this.kB)};K.prototype.setDamping=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Xq(d,a,c)};K.prototype.setMassProps=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Yq(d,a,c)};K.prototype.getLinearFactor=function(){return k(Zq(this.kB),m)};
+K.prototype.setLinearFactor=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);$q(c,a)};K.prototype.applyTorque=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ar(c,a)};K.prototype.applyLocalTorque=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);br(c,a)};K.prototype.applyForce=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);cr(d,a,c)};
+K.prototype.applyCentralForce=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);dr(c,a)};K.prototype.applyCentralLocalForce=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);er(c,a)};K.prototype.applyTorqueImpulse=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);fr(c,a)};K.prototype.applyImpulse=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);gr(d,a,c)};
+K.prototype.applyCentralImpulse=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);hr(c,a)};K.prototype.updateInertiaTensor=function(){ir(this.kB)};K.prototype.getLinearVelocity=function(){return k(jr(this.kB),m)};K.prototype.getAngularVelocity=function(){return k(kr(this.kB),m)};K.prototype.setLinearVelocity=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);lr(c,a)};K.prototype.setAngularVelocity=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);mr(c,a)};
+K.prototype.getMotionState=function(){return k(nr(this.kB),dE)};K.prototype.setMotionState=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);or(c,a)};K.prototype.getAngularFactor=function(){return k(pr(this.kB),m)};K.prototype.setAngularFactor=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);qr(c,a)};K.prototype.upcast=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(rr(c,a),K)};
+K.prototype.getAabb=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);sr(d,a,c)};K.prototype.applyGravity=function(){tr(this.kB)};K.prototype.getGravity=function(){return k(ur(this.kB),m)};K.prototype.setGravity=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);vr(c,a)};K.prototype.getBroadphaseProxy=function(){return k(wr(this.kB),YD)};K.prototype.clearForces=function(){xr(this.kB)};
+K.prototype.setFlags=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);yr(c,a)};K.prototype.getFlags=function(){return zr(this.kB)};K.prototype.setAnisotropicFriction=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Ar(d,a,c)};K.prototype.getCollisionShape=function(){return k(Br(this.kB),l)};K.prototype.setContactProcessingThreshold=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Cr(c,a)};
+K.prototype.setActivationState=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Dr(c,a)};K.prototype.forceActivationState=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Er(c,a)};K.prototype.activate=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);void 0===a?Fr(c):Gr(c,a)};K.prototype.isActive=function(){return!!Hr(this.kB)};K.prototype.isKinematicObject=function(){return!!Ir(this.kB)};K.prototype.isStaticObject=function(){return!!Jr(this.kB)};
+K.prototype.isStaticOrKinematicObject=function(){return!!Kr(this.kB)};K.prototype.getRestitution=function(){return Lr(this.kB)};K.prototype.getFriction=function(){return Mr(this.kB)};K.prototype.getRollingFriction=function(){return Nr(this.kB)};K.prototype.setRestitution=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Or(c,a)};K.prototype.setFriction=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Pr(c,a)};
+K.prototype.setRollingFriction=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Qr(c,a)};K.prototype.getWorldTransform=function(){return k(Rr(this.kB),r)};K.prototype.getCollisionFlags=function(){return Sr(this.kB)};K.prototype.setCollisionFlags=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Tr(c,a)};K.prototype.setWorldTransform=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ur(c,a)};
+K.prototype.setCollisionShape=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Vr(c,a)};K.prototype.setCcdMotionThreshold=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Wr(c,a)};K.prototype.setCcdSweptSphereRadius=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Xr(c,a)};K.prototype.getUserIndex=function(){return Yr(this.kB)};K.prototype.setUserIndex=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Zr(c,a)};
+K.prototype.getUserPointer=function(){return k($r(this.kB),XD)};K.prototype.setUserPointer=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);as(c,a)};K.prototype.getBroadphaseHandle=function(){return k(bs(this.kB),YD)};K.prototype.__destroy__=function(){cs(this.kB)};function L(){this.kB=ds();h(L)[this.kB]=this}L.prototype=Object.create(f.prototype);L.prototype.constructor=L;L.prototype.lB=L;L.mB={};b.btConstraintSetting=L;L.prototype.get_m_tau=L.prototype.sE=function(){return es(this.kB)};
+L.prototype.set_m_tau=L.prototype.kH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);gs(c,a)};Object.defineProperty(L.prototype,"m_tau",{get:L.prototype.sE,set:L.prototype.kH});L.prototype.get_m_damping=L.prototype.aD=function(){return hs(this.kB)};L.prototype.set_m_damping=L.prototype.SF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);is(c,a)};Object.defineProperty(L.prototype,"m_damping",{get:L.prototype.aD,set:L.prototype.SF});
+L.prototype.get_m_impulseClamp=L.prototype.wD=function(){return js(this.kB)};L.prototype.set_m_impulseClamp=L.prototype.nG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ks(c,a)};Object.defineProperty(L.prototype,"m_impulseClamp",{get:L.prototype.wD,set:L.prototype.nG});L.prototype.__destroy__=function(){ls(this.kB)};
+function pF(a,c,d,e){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);this.kB=void 0===d?ms(a,c):void 0===e?_emscripten_bind_btPoint2PointConstraint_btPoint2PointConstraint_3(a,c,d):ns(a,c,d,e);h(pF)[this.kB]=this}pF.prototype=Object.create(aE.prototype);pF.prototype.constructor=pF;pF.prototype.lB=pF;pF.mB={};b.btPoint2PointConstraint=pF;
+pF.prototype.setPivotA=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ps(c,a)};pF.prototype.setPivotB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);qs(c,a)};pF.prototype.getPivotInA=function(){return k(rs(this.kB),m)};pF.prototype.getPivotInB=function(){return k(ss(this.kB),m)};pF.prototype.enableFeedback=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ts(c,a)};pF.prototype.getBreakingImpulseThreshold=function(){return us(this.kB)};
+pF.prototype.setBreakingImpulseThreshold=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);vs(c,a)};pF.prototype.getParam=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);return xs(d,a,c)};pF.prototype.setParam=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);ys(e,a,c,d)};pF.prototype.get_m_setting=pF.prototype.fE=function(){return k(zs(this.kB),L)};
+pF.prototype.set_m_setting=pF.prototype.YG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);As(c,a)};Object.defineProperty(pF.prototype,"m_setting",{get:pF.prototype.fE,set:pF.prototype.YG});pF.prototype.__destroy__=function(){Bs(this.kB)};
+function qF(a,c,d,e,g){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);g&&"object"===typeof g&&(g=g.kB);this.kB=void 0===e?Cs(a,c,d):void 0===g?_emscripten_bind_btGeneric6DofSpringConstraint_btGeneric6DofSpringConstraint_4(a,c,d,e):Ds(a,c,d,e,g);h(qF)[this.kB]=this}qF.prototype=Object.create(pE.prototype);qF.prototype.constructor=qF;qF.prototype.lB=qF;qF.mB={};b.btGeneric6DofSpringConstraint=qF;
+qF.prototype.enableSpring=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Es(d,a,c)};qF.prototype.setStiffness=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Fs(d,a,c)};qF.prototype.setDamping=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Gs(d,a,c)};
+qF.prototype.setEquilibriumPoint=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);void 0===a?Hs(d):void 0===c?Is(d,a):Js(d,a,c)};qF.prototype.setLinearLowerLimit=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ks(c,a)};qF.prototype.setLinearUpperLimit=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ls(c,a)};qF.prototype.setAngularLowerLimit=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ms(c,a)};
+qF.prototype.setAngularUpperLimit=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ns(c,a)};qF.prototype.getFrameOffsetA=function(){return k(Os(this.kB),r)};qF.prototype.enableFeedback=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ps(c,a)};qF.prototype.getBreakingImpulseThreshold=function(){return Qs(this.kB)};qF.prototype.setBreakingImpulseThreshold=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Rs(c,a)};
+qF.prototype.getParam=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);return Ss(d,a,c)};qF.prototype.setParam=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);Ts(e,a,c,d)};qF.prototype.__destroy__=function(){Us(this.kB)};function rF(){this.kB=Vs();h(rF)[this.kB]=this}rF.prototype=Object.create(f.prototype);rF.prototype.constructor=rF;rF.prototype.lB=rF;rF.mB={};
+b.btSequentialImpulseConstraintSolver=rF;rF.prototype.__destroy__=function(){Ws(this.kB)};function sF(a,c,d,e){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);this.kB=void 0===d?Xs(a,c):void 0===e?_emscripten_bind_btConeTwistConstraint_btConeTwistConstraint_3(a,c,d):Ys(a,c,d,e);h(sF)[this.kB]=this}sF.prototype=Object.create(aE.prototype);sF.prototype.constructor=sF;sF.prototype.lB=sF;sF.mB={};
+b.btConeTwistConstraint=sF;sF.prototype.setLimit=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Zs(d,a,c)};sF.prototype.setAngularOnly=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);$s(c,a)};sF.prototype.setDamping=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);at(c,a)};sF.prototype.enableMotor=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);bt(c,a)};
+sF.prototype.setMaxMotorImpulse=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ct(c,a)};sF.prototype.setMaxMotorImpulseNormalized=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);dt(c,a)};sF.prototype.setMotorTarget=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);et(c,a)};sF.prototype.setMotorTargetInConstraintSpace=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ft(c,a)};
+sF.prototype.enableFeedback=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);gt(c,a)};sF.prototype.getBreakingImpulseThreshold=function(){return ht(this.kB)};sF.prototype.setBreakingImpulseThreshold=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);it(c,a)};sF.prototype.getParam=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);return jt(d,a,c)};
+sF.prototype.setParam=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);kt(e,a,c,d)};sF.prototype.__destroy__=function(){lt(this.kB)};
+function tF(a,c,d,e,g,n,z){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);g&&"object"===typeof g&&(g=g.kB);n&&"object"===typeof n&&(n=n.kB);z&&"object"===typeof z&&(z=z.kB);this.kB=void 0===d?mt(a,c):void 0===e?nt(a,c,d):void 0===g?ot(a,c,d,e):void 0===n?pt(a,c,d,e,g):void 0===z?qt(a,c,d,e,g,n):rt(a,c,d,e,g,n,z);h(tF)[this.kB]=this}tF.prototype=Object.create(aE.prototype);tF.prototype.constructor=tF;
+tF.prototype.lB=tF;tF.mB={};b.btHingeConstraint=tF;tF.prototype.getHingeAngle=function(){return st(this.kB)};tF.prototype.setLimit=function(a,c,d,e,g){var n=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);g&&"object"===typeof g&&(g=g.kB);void 0===g?tt(n,a,c,d,e):ut(n,a,c,d,e,g)};
+tF.prototype.enableAngularMotor=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);vt(e,a,c,d)};tF.prototype.setAngularOnly=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);wt(c,a)};tF.prototype.enableMotor=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);xt(c,a)};tF.prototype.setMaxMotorImpulse=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);yt(c,a)};
+tF.prototype.setMotorTarget=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);zt(d,a,c)};tF.prototype.enableFeedback=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);At(c,a)};tF.prototype.getBreakingImpulseThreshold=function(){return Bt(this.kB)};tF.prototype.setBreakingImpulseThreshold=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ct(c,a)};
+tF.prototype.getParam=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);return Dt(d,a,c)};tF.prototype.setParam=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);Et(e,a,c,d)};tF.prototype.__destroy__=function(){Ft(this.kB)};
+function uF(a,c,d,e,g){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);g&&"object"===typeof g&&(g=g.kB);this.kB=void 0===e?Gt(a,c,d):void 0===g?_emscripten_bind_btSliderConstraint_btSliderConstraint_4(a,c,d,e):Ht(a,c,d,e,g);h(uF)[this.kB]=this}uF.prototype=Object.create(aE.prototype);uF.prototype.constructor=uF;uF.prototype.lB=uF;uF.mB={};b.btSliderConstraint=uF;uF.prototype.getLinearPos=function(){return It(this.kB)};
+uF.prototype.getAngularPos=function(){return Jt(this.kB)};uF.prototype.setLowerLinLimit=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Kt(c,a)};uF.prototype.setUpperLinLimit=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Lt(c,a)};uF.prototype.setLowerAngLimit=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Mt(c,a)};uF.prototype.setUpperAngLimit=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Nt(c,a)};
+uF.prototype.setPoweredLinMotor=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ot(c,a)};uF.prototype.setMaxLinMotorForce=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Pt(c,a)};uF.prototype.setTargetLinMotorVelocity=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Qt(c,a)};uF.prototype.enableFeedback=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Rt(c,a)};uF.prototype.getBreakingImpulseThreshold=function(){return St(this.kB)};
+uF.prototype.setBreakingImpulseThreshold=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Tt(c,a)};uF.prototype.getParam=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);return Ut(d,a,c)};uF.prototype.setParam=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);Vt(e,a,c,d)};uF.prototype.__destroy__=function(){Wt(this.kB)};
+function vF(a,c,d,e){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);this.kB=Xt(a,c,d,e);h(vF)[this.kB]=this}vF.prototype=Object.create(aE.prototype);vF.prototype.constructor=vF;vF.prototype.lB=vF;vF.mB={};b.btFixedConstraint=vF;vF.prototype.enableFeedback=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Yt(c,a)};vF.prototype.getBreakingImpulseThreshold=function(){return Zt(this.kB)};
+vF.prototype.setBreakingImpulseThreshold=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);$t(c,a)};vF.prototype.getParam=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);return au(d,a,c)};vF.prototype.setParam=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);bu(e,a,c,d)};vF.prototype.__destroy__=function(){cu(this.kB)};
+function wF(){throw"cannot construct a btConstraintSolver, no constructor in IDL";}wF.prototype=Object.create(f.prototype);wF.prototype.constructor=wF;wF.prototype.lB=wF;wF.mB={};b.btConstraintSolver=wF;wF.prototype.__destroy__=function(){du(this.kB)};function p(){throw"cannot construct a btDispatcherInfo, no constructor in IDL";}p.prototype=Object.create(f.prototype);p.prototype.constructor=p;p.prototype.lB=p;p.mB={};b.btDispatcherInfo=p;p.prototype.get_m_timeStep=p.prototype.uE=function(){return eu(this.kB)};
+p.prototype.set_m_timeStep=p.prototype.mH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);fu(c,a)};Object.defineProperty(p.prototype,"m_timeStep",{get:p.prototype.uE,set:p.prototype.mH});p.prototype.get_m_stepCount=p.prototype.lE=function(){return gu(this.kB)};p.prototype.set_m_stepCount=p.prototype.dH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);hu(c,a)};Object.defineProperty(p.prototype,"m_stepCount",{get:p.prototype.lE,set:p.prototype.dH});
+p.prototype.get_m_dispatchFunc=p.prototype.cD=function(){return iu(this.kB)};p.prototype.set_m_dispatchFunc=p.prototype.UF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ju(c,a)};Object.defineProperty(p.prototype,"m_dispatchFunc",{get:p.prototype.cD,set:p.prototype.UF});p.prototype.get_m_timeOfImpact=p.prototype.tE=function(){return ku(this.kB)};p.prototype.set_m_timeOfImpact=p.prototype.lH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);lu(c,a)};
+Object.defineProperty(p.prototype,"m_timeOfImpact",{get:p.prototype.tE,set:p.prototype.lH});p.prototype.get_m_useContinuous=p.prototype.wE=function(){return!!mu(this.kB)};p.prototype.set_m_useContinuous=p.prototype.oH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);nu(c,a)};Object.defineProperty(p.prototype,"m_useContinuous",{get:p.prototype.wE,set:p.prototype.oH});p.prototype.get_m_enableSatConvex=p.prototype.hD=function(){return!!ou(this.kB)};
+p.prototype.set_m_enableSatConvex=p.prototype.ZF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);pu(c,a)};Object.defineProperty(p.prototype,"m_enableSatConvex",{get:p.prototype.hD,set:p.prototype.ZF});p.prototype.get_m_enableSPU=p.prototype.gD=function(){return!!qu(this.kB)};p.prototype.set_m_enableSPU=p.prototype.YF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ru(c,a)};Object.defineProperty(p.prototype,"m_enableSPU",{get:p.prototype.gD,set:p.prototype.YF});
+p.prototype.get_m_useEpa=p.prototype.yE=function(){return!!su(this.kB)};p.prototype.set_m_useEpa=p.prototype.qH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);tu(c,a)};Object.defineProperty(p.prototype,"m_useEpa",{get:p.prototype.yE,set:p.prototype.qH});p.prototype.get_m_allowedCcdPenetration=p.prototype.FC=function(){return uu(this.kB)};p.prototype.set_m_allowedCcdPenetration=p.prototype.wF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);vu(c,a)};
+Object.defineProperty(p.prototype,"m_allowedCcdPenetration",{get:p.prototype.FC,set:p.prototype.wF});p.prototype.get_m_useConvexConservativeDistanceUtil=p.prototype.xE=function(){return!!wu(this.kB)};p.prototype.set_m_useConvexConservativeDistanceUtil=p.prototype.pH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);xu(c,a)};Object.defineProperty(p.prototype,"m_useConvexConservativeDistanceUtil",{get:p.prototype.xE,set:p.prototype.pH});
+p.prototype.get_m_convexConservativeDistanceThreshold=p.prototype.YC=function(){return yu(this.kB)};p.prototype.set_m_convexConservativeDistanceThreshold=p.prototype.PF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);zu(c,a)};Object.defineProperty(p.prototype,"m_convexConservativeDistanceThreshold",{get:p.prototype.YC,set:p.prototype.PF});p.prototype.__destroy__=function(){Au(this.kB)};function t(){throw"cannot construct a btContactSolverInfo, no constructor in IDL";}t.prototype=Object.create(f.prototype);
+t.prototype.constructor=t;t.prototype.lB=t;t.mB={};b.btContactSolverInfo=t;t.prototype.get_m_splitImpulse=t.prototype.iE=function(){return!!Bu(this.kB)};t.prototype.set_m_splitImpulse=t.prototype.aH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Cu(c,a)};Object.defineProperty(t.prototype,"m_splitImpulse",{get:t.prototype.iE,set:t.prototype.aH});t.prototype.get_m_splitImpulsePenetrationThreshold=t.prototype.jE=function(){return Du(this.kB)};
+t.prototype.set_m_splitImpulsePenetrationThreshold=t.prototype.bH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Eu(c,a)};Object.defineProperty(t.prototype,"m_splitImpulsePenetrationThreshold",{get:t.prototype.jE,set:t.prototype.bH});t.prototype.get_m_numIterations=t.prototype.TD=function(){return Fu(this.kB)};t.prototype.set_m_numIterations=t.prototype.KG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Gu(c,a)};
+Object.defineProperty(t.prototype,"m_numIterations",{get:t.prototype.TD,set:t.prototype.KG});t.prototype.__destroy__=function(){Hu(this.kB)};function M(){this.kB=Iu();h(M)[this.kB]=this}M.prototype=Object.create(f.prototype);M.prototype.constructor=M;M.prototype.lB=M;M.mB={};b.btVehicleTuning=M;M.prototype.get_m_suspensionStiffness=M.prototype.BB=function(){return Ju(this.kB)};M.prototype.set_m_suspensionStiffness=M.prototype.IB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ku(c,a)};
+Object.defineProperty(M.prototype,"m_suspensionStiffness",{get:M.prototype.BB,set:M.prototype.IB});M.prototype.get_m_suspensionCompression=M.prototype.mE=function(){return Lu(this.kB)};M.prototype.set_m_suspensionCompression=M.prototype.eH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Mu(c,a)};Object.defineProperty(M.prototype,"m_suspensionCompression",{get:M.prototype.mE,set:M.prototype.eH});M.prototype.get_m_suspensionDamping=M.prototype.nE=function(){return Nu(this.kB)};
+M.prototype.set_m_suspensionDamping=M.prototype.fH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ou(c,a)};Object.defineProperty(M.prototype,"m_suspensionDamping",{get:M.prototype.nE,set:M.prototype.fH});M.prototype.get_m_maxSuspensionTravelCm=M.prototype.AB=function(){return Pu(this.kB)};M.prototype.set_m_maxSuspensionTravelCm=M.prototype.HB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Qu(c,a)};
+Object.defineProperty(M.prototype,"m_maxSuspensionTravelCm",{get:M.prototype.AB,set:M.prototype.HB});M.prototype.get_m_frictionSlip=M.prototype.wB=function(){return Ru(this.kB)};M.prototype.set_m_frictionSlip=M.prototype.DB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Su(c,a)};Object.defineProperty(M.prototype,"m_frictionSlip",{get:M.prototype.wB,set:M.prototype.DB});M.prototype.get_m_maxSuspensionForce=M.prototype.zB=function(){return Tu(this.kB)};
+M.prototype.set_m_maxSuspensionForce=M.prototype.GB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Uu(c,a)};Object.defineProperty(M.prototype,"m_maxSuspensionForce",{get:M.prototype.zB,set:M.prototype.GB});function xF(){throw"cannot construct a btVehicleRaycasterResult, no constructor in IDL";}xF.prototype=Object.create(f.prototype);xF.prototype.constructor=xF;xF.prototype.lB=xF;xF.mB={};b.btVehicleRaycasterResult=xF;
+xF.prototype.get_m_hitPointInWorld=xF.prototype.tD=function(){return k(Vu(this.kB),m)};xF.prototype.set_m_hitPointInWorld=xF.prototype.kG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Wu(c,a)};Object.defineProperty(xF.prototype,"m_hitPointInWorld",{get:xF.prototype.tD,set:xF.prototype.kG});xF.prototype.get_m_hitNormalInWorld=xF.prototype.rD=function(){return k(Xu(this.kB),m)};
+xF.prototype.set_m_hitNormalInWorld=xF.prototype.iG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Yu(c,a)};Object.defineProperty(xF.prototype,"m_hitNormalInWorld",{get:xF.prototype.rD,set:xF.prototype.iG});xF.prototype.get_m_distFraction=xF.prototype.fD=function(){return Zu(this.kB)};xF.prototype.set_m_distFraction=xF.prototype.XF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);$u(c,a)};Object.defineProperty(xF.prototype,"m_distFraction",{get:xF.prototype.fD,set:xF.prototype.XF});
+xF.prototype.__destroy__=function(){av(this.kB)};function yF(a){a&&"object"===typeof a&&(a=a.kB);this.kB=bv(a);h(yF)[this.kB]=this}yF.prototype=Object.create(qE.prototype);yF.prototype.constructor=yF;yF.prototype.lB=yF;yF.mB={};b.btDefaultVehicleRaycaster=yF;yF.prototype.castRay=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);cv(e,a,c,d)};yF.prototype.__destroy__=function(){dv(this.kB)};
+function N(){throw"cannot construct a RaycastInfo, no constructor in IDL";}N.prototype=Object.create(f.prototype);N.prototype.constructor=N;N.prototype.lB=N;N.mB={};b.RaycastInfo=N;N.prototype.get_m_contactNormalWS=N.prototype.WC=function(){return k(ev(this.kB),m)};N.prototype.set_m_contactNormalWS=N.prototype.NF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);fv(c,a)};Object.defineProperty(N.prototype,"m_contactNormalWS",{get:N.prototype.WC,set:N.prototype.NF});
+N.prototype.get_m_contactPointWS=N.prototype.XC=function(){return k(gv(this.kB),m)};N.prototype.set_m_contactPointWS=N.prototype.OF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);hv(c,a)};Object.defineProperty(N.prototype,"m_contactPointWS",{get:N.prototype.XC,set:N.prototype.OF});N.prototype.get_m_suspensionLength=N.prototype.oE=function(){return iv(this.kB)};N.prototype.set_m_suspensionLength=N.prototype.gH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);jv(c,a)};
+Object.defineProperty(N.prototype,"m_suspensionLength",{get:N.prototype.oE,set:N.prototype.gH});N.prototype.get_m_hardPointWS=N.prototype.oD=function(){return k(kv(this.kB),m)};N.prototype.set_m_hardPointWS=N.prototype.fG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);lv(c,a)};Object.defineProperty(N.prototype,"m_hardPointWS",{get:N.prototype.oD,set:N.prototype.fG});N.prototype.get_m_wheelDirectionWS=N.prototype.DE=function(){return k(mv(this.kB),m)};
+N.prototype.set_m_wheelDirectionWS=N.prototype.vH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);nv(c,a)};Object.defineProperty(N.prototype,"m_wheelDirectionWS",{get:N.prototype.DE,set:N.prototype.vH});N.prototype.get_m_wheelAxleWS=N.prototype.CE=function(){return k(ov(this.kB),m)};N.prototype.set_m_wheelAxleWS=N.prototype.uH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);pv(c,a)};Object.defineProperty(N.prototype,"m_wheelAxleWS",{get:N.prototype.CE,set:N.prototype.uH});
+N.prototype.get_m_isInContact=N.prototype.zD=function(){return!!qv(this.kB)};N.prototype.set_m_isInContact=N.prototype.qG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);rv(c,a)};Object.defineProperty(N.prototype,"m_isInContact",{get:N.prototype.zD,set:N.prototype.qG});N.prototype.get_m_groundObject=N.prototype.nD=function(){return sv(this.kB)};N.prototype.set_m_groundObject=N.prototype.eG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);tv(c,a)};
+Object.defineProperty(N.prototype,"m_groundObject",{get:N.prototype.nD,set:N.prototype.eG});N.prototype.__destroy__=function(){uv(this.kB)};function O(){throw"cannot construct a btWheelInfoConstructionInfo, no constructor in IDL";}O.prototype=Object.create(f.prototype);O.prototype.constructor=O;O.prototype.lB=O;O.mB={};b.btWheelInfoConstructionInfo=O;O.prototype.get_m_chassisConnectionCS=O.prototype.RC=function(){return k(vv(this.kB),m)};
+O.prototype.set_m_chassisConnectionCS=O.prototype.IF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);wv(c,a)};Object.defineProperty(O.prototype,"m_chassisConnectionCS",{get:O.prototype.RC,set:O.prototype.IF});O.prototype.get_m_wheelDirectionCS=O.prototype.QB=function(){return k(xv(this.kB),m)};O.prototype.set_m_wheelDirectionCS=O.prototype.$B=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);yv(c,a)};Object.defineProperty(O.prototype,"m_wheelDirectionCS",{get:O.prototype.QB,set:O.prototype.$B});
+O.prototype.get_m_wheelAxleCS=O.prototype.PB=function(){return k(zv(this.kB),m)};O.prototype.set_m_wheelAxleCS=O.prototype.ZB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Av(c,a)};Object.defineProperty(O.prototype,"m_wheelAxleCS",{get:O.prototype.PB,set:O.prototype.ZB});O.prototype.get_m_suspensionRestLength=O.prototype.qE=function(){return Bv(this.kB)};O.prototype.set_m_suspensionRestLength=O.prototype.iH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Cv(c,a)};
+Object.defineProperty(O.prototype,"m_suspensionRestLength",{get:O.prototype.qE,set:O.prototype.iH});O.prototype.get_m_maxSuspensionTravelCm=O.prototype.AB=function(){return Dv(this.kB)};O.prototype.set_m_maxSuspensionTravelCm=O.prototype.HB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ev(c,a)};Object.defineProperty(O.prototype,"m_maxSuspensionTravelCm",{get:O.prototype.AB,set:O.prototype.HB});O.prototype.get_m_wheelRadius=O.prototype.EE=function(){return Fv(this.kB)};
+O.prototype.set_m_wheelRadius=O.prototype.wH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Gv(c,a)};Object.defineProperty(O.prototype,"m_wheelRadius",{get:O.prototype.EE,set:O.prototype.wH});O.prototype.get_m_suspensionStiffness=O.prototype.BB=function(){return Hv(this.kB)};O.prototype.set_m_suspensionStiffness=O.prototype.IB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Iv(c,a)};Object.defineProperty(O.prototype,"m_suspensionStiffness",{get:O.prototype.BB,set:O.prototype.IB});
+O.prototype.get_m_wheelsDampingCompression=O.prototype.RB=function(){return Jv(this.kB)};O.prototype.set_m_wheelsDampingCompression=O.prototype.aC=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Kv(c,a)};Object.defineProperty(O.prototype,"m_wheelsDampingCompression",{get:O.prototype.RB,set:O.prototype.aC});O.prototype.get_m_wheelsDampingRelaxation=O.prototype.SB=function(){return Lv(this.kB)};
+O.prototype.set_m_wheelsDampingRelaxation=O.prototype.bC=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Mv(c,a)};Object.defineProperty(O.prototype,"m_wheelsDampingRelaxation",{get:O.prototype.SB,set:O.prototype.bC});O.prototype.get_m_frictionSlip=O.prototype.wB=function(){return Nv(this.kB)};O.prototype.set_m_frictionSlip=O.prototype.DB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ov(c,a)};Object.defineProperty(O.prototype,"m_frictionSlip",{get:O.prototype.wB,set:O.prototype.DB});
+O.prototype.get_m_maxSuspensionForce=O.prototype.zB=function(){return Pv(this.kB)};O.prototype.set_m_maxSuspensionForce=O.prototype.GB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Qv(c,a)};Object.defineProperty(O.prototype,"m_maxSuspensionForce",{get:O.prototype.zB,set:O.prototype.GB});O.prototype.get_m_bIsFrontWheel=O.prototype.JB=function(){return!!Rv(this.kB)};O.prototype.set_m_bIsFrontWheel=O.prototype.TB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Sv(c,a)};
+Object.defineProperty(O.prototype,"m_bIsFrontWheel",{get:O.prototype.JB,set:O.prototype.TB});O.prototype.__destroy__=function(){Tv(this.kB)};function P(a){a&&"object"===typeof a&&(a=a.kB);this.kB=Uv(a);h(P)[this.kB]=this}P.prototype=Object.create(f.prototype);P.prototype.constructor=P;P.prototype.lB=P;P.mB={};b.btWheelInfo=P;P.prototype.getSuspensionRestLength=function(){return Vv(this.kB)};
+P.prototype.updateWheel=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Wv(d,a,c)};P.prototype.get_m_suspensionStiffness=P.prototype.BB=function(){return Xv(this.kB)};P.prototype.set_m_suspensionStiffness=P.prototype.IB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Yv(c,a)};Object.defineProperty(P.prototype,"m_suspensionStiffness",{get:P.prototype.BB,set:P.prototype.IB});P.prototype.get_m_frictionSlip=P.prototype.wB=function(){return Zv(this.kB)};
+P.prototype.set_m_frictionSlip=P.prototype.DB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);$v(c,a)};Object.defineProperty(P.prototype,"m_frictionSlip",{get:P.prototype.wB,set:P.prototype.DB});P.prototype.get_m_engineForce=P.prototype.iD=function(){return aw(this.kB)};P.prototype.set_m_engineForce=P.prototype.$F=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);bw(c,a)};Object.defineProperty(P.prototype,"m_engineForce",{get:P.prototype.iD,set:P.prototype.$F});
+P.prototype.get_m_rollInfluence=P.prototype.cE=function(){return cw(this.kB)};P.prototype.set_m_rollInfluence=P.prototype.VG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);dw(c,a)};Object.defineProperty(P.prototype,"m_rollInfluence",{get:P.prototype.cE,set:P.prototype.VG});P.prototype.get_m_suspensionRestLength1=P.prototype.rE=function(){return ew(this.kB)};P.prototype.set_m_suspensionRestLength1=P.prototype.jH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);fw(c,a)};
+Object.defineProperty(P.prototype,"m_suspensionRestLength1",{get:P.prototype.rE,set:P.prototype.jH});P.prototype.get_m_wheelsRadius=P.prototype.FE=function(){return gw(this.kB)};P.prototype.set_m_wheelsRadius=P.prototype.xH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);hw(c,a)};Object.defineProperty(P.prototype,"m_wheelsRadius",{get:P.prototype.FE,set:P.prototype.xH});P.prototype.get_m_wheelsDampingCompression=P.prototype.RB=function(){return iw(this.kB)};
+P.prototype.set_m_wheelsDampingCompression=P.prototype.aC=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);jw(c,a)};Object.defineProperty(P.prototype,"m_wheelsDampingCompression",{get:P.prototype.RB,set:P.prototype.aC});P.prototype.get_m_wheelsDampingRelaxation=P.prototype.SB=function(){return kw(this.kB)};P.prototype.set_m_wheelsDampingRelaxation=P.prototype.bC=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);lw(c,a)};
+Object.defineProperty(P.prototype,"m_wheelsDampingRelaxation",{get:P.prototype.SB,set:P.prototype.bC});P.prototype.get_m_steering=P.prototype.kE=function(){return mw(this.kB)};P.prototype.set_m_steering=P.prototype.cH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);nw(c,a)};Object.defineProperty(P.prototype,"m_steering",{get:P.prototype.kE,set:P.prototype.cH});P.prototype.get_m_maxSuspensionForce=P.prototype.zB=function(){return ow(this.kB)};
+P.prototype.set_m_maxSuspensionForce=P.prototype.GB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);pw(c,a)};Object.defineProperty(P.prototype,"m_maxSuspensionForce",{get:P.prototype.zB,set:P.prototype.GB});P.prototype.get_m_maxSuspensionTravelCm=P.prototype.AB=function(){return qw(this.kB)};P.prototype.set_m_maxSuspensionTravelCm=P.prototype.HB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);rw(c,a)};
+Object.defineProperty(P.prototype,"m_maxSuspensionTravelCm",{get:P.prototype.AB,set:P.prototype.HB});P.prototype.get_m_wheelsSuspensionForce=P.prototype.GE=function(){return sw(this.kB)};P.prototype.set_m_wheelsSuspensionForce=P.prototype.yH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);tw(c,a)};Object.defineProperty(P.prototype,"m_wheelsSuspensionForce",{get:P.prototype.GE,set:P.prototype.yH});P.prototype.get_m_bIsFrontWheel=P.prototype.JB=function(){return!!uw(this.kB)};
+P.prototype.set_m_bIsFrontWheel=P.prototype.TB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);vw(c,a)};Object.defineProperty(P.prototype,"m_bIsFrontWheel",{get:P.prototype.JB,set:P.prototype.TB});P.prototype.get_m_raycastInfo=P.prototype.aE=function(){return k(ww(this.kB),N)};P.prototype.set_m_raycastInfo=P.prototype.TG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);xw(c,a)};Object.defineProperty(P.prototype,"m_raycastInfo",{get:P.prototype.aE,set:P.prototype.TG});
+P.prototype.get_m_chassisConnectionPointCS=P.prototype.SC=function(){return k(yw(this.kB),m)};P.prototype.set_m_chassisConnectionPointCS=P.prototype.JF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);zw(c,a)};Object.defineProperty(P.prototype,"m_chassisConnectionPointCS",{get:P.prototype.SC,set:P.prototype.JF});P.prototype.get_m_worldTransform=P.prototype.HE=function(){return k(Aw(this.kB),r)};
+P.prototype.set_m_worldTransform=P.prototype.zH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Bw(c,a)};Object.defineProperty(P.prototype,"m_worldTransform",{get:P.prototype.HE,set:P.prototype.zH});P.prototype.get_m_wheelDirectionCS=P.prototype.QB=function(){return k(Cw(this.kB),m)};P.prototype.set_m_wheelDirectionCS=P.prototype.$B=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Dw(c,a)};Object.defineProperty(P.prototype,"m_wheelDirectionCS",{get:P.prototype.QB,set:P.prototype.$B});
+P.prototype.get_m_wheelAxleCS=P.prototype.PB=function(){return k(Ew(this.kB),m)};P.prototype.set_m_wheelAxleCS=P.prototype.ZB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Fw(c,a)};Object.defineProperty(P.prototype,"m_wheelAxleCS",{get:P.prototype.PB,set:P.prototype.ZB});P.prototype.get_m_rotation=P.prototype.eE=function(){return Gw(this.kB)};P.prototype.set_m_rotation=P.prototype.XG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Hw(c,a)};
+Object.defineProperty(P.prototype,"m_rotation",{get:P.prototype.eE,set:P.prototype.XG});P.prototype.get_m_deltaRotation=P.prototype.bD=function(){return Iw(this.kB)};P.prototype.set_m_deltaRotation=P.prototype.TF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Jw(c,a)};Object.defineProperty(P.prototype,"m_deltaRotation",{get:P.prototype.bD,set:P.prototype.TF});P.prototype.get_m_brake=P.prototype.LC=function(){return Kw(this.kB)};
+P.prototype.set_m_brake=P.prototype.CF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Lw(c,a)};Object.defineProperty(P.prototype,"m_brake",{get:P.prototype.LC,set:P.prototype.CF});P.prototype.get_m_clippedInvContactDotSuspension=P.prototype.TC=function(){return Mw(this.kB)};P.prototype.set_m_clippedInvContactDotSuspension=P.prototype.KF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Nw(c,a)};
+Object.defineProperty(P.prototype,"m_clippedInvContactDotSuspension",{get:P.prototype.TC,set:P.prototype.KF});P.prototype.get_m_suspensionRelativeVelocity=P.prototype.pE=function(){return Ow(this.kB)};P.prototype.set_m_suspensionRelativeVelocity=P.prototype.hH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Pw(c,a)};Object.defineProperty(P.prototype,"m_suspensionRelativeVelocity",{get:P.prototype.pE,set:P.prototype.hH});P.prototype.get_m_skidInfo=P.prototype.hE=function(){return Qw(this.kB)};
+P.prototype.set_m_skidInfo=P.prototype.$G=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Rw(c,a)};Object.defineProperty(P.prototype,"m_skidInfo",{get:P.prototype.hE,set:P.prototype.$G});P.prototype.__destroy__=function(){Sw(this.kB)};function zF(a,c,d,e){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);this.kB=void 0===e?Tw(a,c,d):Uw(a,c,d,e);h(zF)[this.kB]=this}zF.prototype=Object.create(rE.prototype);
+zF.prototype.constructor=zF;zF.prototype.lB=zF;zF.mB={};b.btKinematicCharacterController=zF;zF.prototype.setUpAxis=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Vw(c,a)};zF.prototype.setWalkDirection=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ww(c,a)};zF.prototype.setVelocityForTimeInterval=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Xw(d,a,c)};
+zF.prototype.warp=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Yw(c,a)};zF.prototype.preStep=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Zw(c,a)};zF.prototype.playerStep=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);$w(d,a,c)};zF.prototype.setFallSpeed=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ax(c,a)};zF.prototype.setJumpSpeed=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);bx(c,a)};
+zF.prototype.setMaxJumpHeight=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);cx(c,a)};zF.prototype.canJump=function(){return!!dx(this.kB)};zF.prototype.jump=function(){ex(this.kB)};zF.prototype.setGravity=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);fx(c,a)};zF.prototype.getGravity=function(){return gx(this.kB)};zF.prototype.setMaxSlope=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);hx(c,a)};zF.prototype.getMaxSlope=function(){return ix(this.kB)};
+zF.prototype.getGhostObject=function(){return k(jx(this.kB),Q)};zF.prototype.setUseGhostSweepTest=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);kx(c,a)};zF.prototype.onGround=function(){return!!lx(this.kB)};zF.prototype.setUpInterpolate=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);mx(c,a)};zF.prototype.updateAction=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);nx(d,a,c)};zF.prototype.__destroy__=function(){ox(this.kB)};
+function R(a,c,d){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);this.kB=px(a,c,d);h(R)[this.kB]=this}R.prototype=Object.create(rE.prototype);R.prototype.constructor=R;R.prototype.lB=R;R.mB={};b.btRaycastVehicle=R;R.prototype.applyEngineForce=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);qx(d,a,c)};
+R.prototype.setSteeringValue=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);rx(d,a,c)};R.prototype.getWheelTransformWS=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(sx(c,a),r)};R.prototype.updateWheelTransform=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);tx(d,a,c)};
+R.prototype.addWheel=function(a,c,d,e,g,n,z){var T=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);g&&"object"===typeof g&&(g=g.kB);n&&"object"===typeof n&&(n=n.kB);z&&"object"===typeof z&&(z=z.kB);return k(ux(T,a,c,d,e,g,n,z),P)};R.prototype.getNumWheels=function(){return vx(this.kB)};R.prototype.getRigidBody=function(){return k(wx(this.kB),K)};
+R.prototype.getWheelInfo=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(xx(c,a),P)};R.prototype.setBrake=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);yx(d,a,c)};R.prototype.setCoordinateSystem=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);zx(e,a,c,d)};R.prototype.getCurrentSpeedKmHour=function(){return Ax(this.kB)};
+R.prototype.getChassisWorldTransform=function(){return k(Bx(this.kB),r)};R.prototype.rayCast=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return Cx(c,a)};R.prototype.updateVehicle=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Dx(c,a)};R.prototype.resetSuspension=function(){Ex(this.kB)};R.prototype.getSteeringValue=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return Fx(c,a)};
+R.prototype.updateWheelTransformsWS=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);void 0===c?Gx(d,a):Hx(d,a,c)};R.prototype.setPitchControl=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ix(c,a)};R.prototype.updateSuspension=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Jx(c,a)};R.prototype.updateFriction=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Kx(c,a)};R.prototype.getRightAxis=function(){return Lx(this.kB)};
+R.prototype.getUpAxis=function(){return Mx(this.kB)};R.prototype.getForwardAxis=function(){return Nx(this.kB)};R.prototype.getForwardVector=function(){return k(Ox(this.kB),m)};R.prototype.getUserConstraintType=function(){return Px(this.kB)};R.prototype.setUserConstraintType=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Qx(c,a)};R.prototype.setUserConstraintId=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Rx(c,a)};R.prototype.getUserConstraintId=function(){return Sx(this.kB)};
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+Q.prototype.getCollisionShape=function(){return k(Xx(this.kB),l)};Q.prototype.setContactProcessingThreshold=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Yx(c,a)};Q.prototype.setActivationState=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Zx(c,a)};Q.prototype.forceActivationState=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);$x(c,a)};Q.prototype.activate=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);void 0===a?ay(c):by(c,a)};
+Q.prototype.isActive=function(){return!!cy(this.kB)};Q.prototype.isKinematicObject=function(){return!!dy(this.kB)};Q.prototype.isStaticObject=function(){return!!ey(this.kB)};Q.prototype.isStaticOrKinematicObject=function(){return!!fy(this.kB)};Q.prototype.getRestitution=function(){return gy(this.kB)};Q.prototype.getFriction=function(){return hy(this.kB)};Q.prototype.getRollingFriction=function(){return iy(this.kB)};
+Q.prototype.setRestitution=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);jy(c,a)};Q.prototype.setFriction=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ky(c,a)};Q.prototype.setRollingFriction=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ly(c,a)};Q.prototype.getWorldTransform=function(){return k(my(this.kB),r)};Q.prototype.getCollisionFlags=function(){return ny(this.kB)};
+Q.prototype.setCollisionFlags=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);oy(c,a)};Q.prototype.setWorldTransform=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);py(c,a)};Q.prototype.setCollisionShape=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);qy(c,a)};Q.prototype.setCcdMotionThreshold=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ry(c,a)};Q.prototype.setCcdSweptSphereRadius=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);sy(c,a)};
+Q.prototype.getUserIndex=function(){return ty(this.kB)};Q.prototype.setUserIndex=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);uy(c,a)};Q.prototype.getUserPointer=function(){return k(vy(this.kB),XD)};Q.prototype.setUserPointer=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);wy(c,a)};Q.prototype.getBroadphaseHandle=function(){return k(xy(this.kB),YD)};Q.prototype.getNumOverlappingObjects=function(){return yy(this.kB)};
+Q.prototype.getOverlappingObject=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(zy(c,a),q)};Q.prototype.__destroy__=function(){Ay(this.kB)};function AF(){this.kB=By();h(AF)[this.kB]=this}AF.prototype=Object.create(f.prototype);AF.prototype.constructor=AF;AF.prototype.lB=AF;AF.mB={};b.btGhostPairCallback=AF;AF.prototype.__destroy__=function(){Cy(this.kB)};function S(){this.kB=Dy();h(S)[this.kB]=this}S.prototype=Object.create(f.prototype);S.prototype.constructor=S;
+S.prototype.lB=S;S.mB={};b.btSoftBodyWorldInfo=S;S.prototype.get_air_density=S.prototype.cC=function(){return Ey(this.kB)};S.prototype.set_air_density=S.prototype.UE=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Fy(c,a)};Object.defineProperty(S.prototype,"air_density",{get:S.prototype.cC,set:S.prototype.UE});S.prototype.get_water_density=S.prototype.RE=function(){return Gy(this.kB)};
+S.prototype.set_water_density=S.prototype.JH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Hy(c,a)};Object.defineProperty(S.prototype,"water_density",{get:S.prototype.RE,set:S.prototype.JH});S.prototype.get_water_offset=S.prototype.TE=function(){return Iy(this.kB)};S.prototype.set_water_offset=S.prototype.LH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Jy(c,a)};Object.defineProperty(S.prototype,"water_offset",{get:S.prototype.TE,set:S.prototype.LH});
+S.prototype.get_m_maxDisplacement=S.prototype.ND=function(){return Ky(this.kB)};S.prototype.set_m_maxDisplacement=S.prototype.EG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ly(c,a)};Object.defineProperty(S.prototype,"m_maxDisplacement",{get:S.prototype.ND,set:S.prototype.EG});S.prototype.get_water_normal=S.prototype.SE=function(){return k(My(this.kB),m)};S.prototype.set_water_normal=S.prototype.KH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ny(c,a)};
+Object.defineProperty(S.prototype,"water_normal",{get:S.prototype.SE,set:S.prototype.KH});S.prototype.get_m_broadphase=S.prototype.MC=function(){return k(Oy(this.kB),VD)};S.prototype.set_m_broadphase=S.prototype.DF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Py(c,a)};Object.defineProperty(S.prototype,"m_broadphase",{get:S.prototype.MC,set:S.prototype.DF});S.prototype.get_m_dispatcher=S.prototype.dD=function(){return k(Qy(this.kB),TD)};
+S.prototype.set_m_dispatcher=S.prototype.VF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ry(c,a)};Object.defineProperty(S.prototype,"m_dispatcher",{get:S.prototype.dD,set:S.prototype.VF});S.prototype.get_m_gravity=S.prototype.mD=function(){return k(Sy(this.kB),m)};S.prototype.set_m_gravity=S.prototype.dG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ty(c,a)};Object.defineProperty(S.prototype,"m_gravity",{get:S.prototype.mD,set:S.prototype.dG});S.prototype.__destroy__=function(){Uy(this.kB)};
+function U(){throw"cannot construct a Face, no constructor in IDL";}U.prototype=Object.create(f.prototype);U.prototype.constructor=U;U.prototype.lB=U;U.mB={};b.Face=U;U.prototype.get_m_n=U.prototype.MB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(Vy(c,a),Node)};U.prototype.set_m_n=U.prototype.WB=function(a,c){var d=this.kB;ND();a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Wy(d,a,c)};Object.defineProperty(U.prototype,"m_n",{get:U.prototype.MB,set:U.prototype.WB});
+U.prototype.get_m_normal=U.prototype.RD=function(){return k(Xy(this.kB),m)};U.prototype.set_m_normal=U.prototype.IG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Yy(c,a)};Object.defineProperty(U.prototype,"m_normal",{get:U.prototype.RD,set:U.prototype.IG});U.prototype.get_m_ra=U.prototype.$D=function(){return Zy(this.kB)};U.prototype.set_m_ra=U.prototype.SG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);$y(c,a)};
+Object.defineProperty(U.prototype,"m_ra",{get:U.prototype.$D,set:U.prototype.SG});U.prototype.__destroy__=function(){az(this.kB)};function BF(){throw"cannot construct a tFaceArray, no constructor in IDL";}BF.prototype=Object.create(f.prototype);BF.prototype.constructor=BF;BF.prototype.lB=BF;BF.mB={};b.tFaceArray=BF;BF.prototype.size=BF.prototype.size=function(){return bz(this.kB)};BF.prototype.at=BF.prototype.at=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(cz(c,a),U)};
+BF.prototype.__destroy__=function(){dz(this.kB)};function Node(){throw"cannot construct a Node, no constructor in IDL";}Node.prototype=Object.create(f.prototype);Node.prototype.constructor=Node;Node.prototype.lB=Node;Node.mB={};b.Node=Node;Node.prototype.get_m_x=Node.prototype.IE=function(){return k(ez(this.kB),m)};Node.prototype.set_m_x=Node.prototype.AH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);fz(c,a)};Object.defineProperty(Node.prototype,"m_x",{get:Node.prototype.IE,set:Node.prototype.AH});
+Node.prototype.get_m_q=Node.prototype.ZD=function(){return k(gz(this.kB),m)};Node.prototype.set_m_q=Node.prototype.QG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);hz(c,a)};Object.defineProperty(Node.prototype,"m_q",{get:Node.prototype.ZD,set:Node.prototype.QG});Node.prototype.get_m_v=Node.prototype.AE=function(){return k(iz(this.kB),m)};Node.prototype.set_m_v=Node.prototype.sH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);jz(c,a)};
+Object.defineProperty(Node.prototype,"m_v",{get:Node.prototype.AE,set:Node.prototype.sH});Node.prototype.get_m_f=Node.prototype.jD=function(){return k(kz(this.kB),m)};Node.prototype.set_m_f=Node.prototype.aG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);lz(c,a)};Object.defineProperty(Node.prototype,"m_f",{get:Node.prototype.jD,set:Node.prototype.aG});Node.prototype.get_m_n=Node.prototype.MB=function(){return k(mz(this.kB),m)};
+Node.prototype.set_m_n=Node.prototype.WB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);nz(c,a)};Object.defineProperty(Node.prototype,"m_n",{get:Node.prototype.MB,set:Node.prototype.WB});Node.prototype.get_m_im=Node.prototype.vD=function(){return oz(this.kB)};Node.prototype.set_m_im=Node.prototype.mG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);pz(c,a)};Object.defineProperty(Node.prototype,"m_im",{get:Node.prototype.vD,set:Node.prototype.mG});
+Node.prototype.get_m_area=Node.prototype.JC=function(){return qz(this.kB)};Node.prototype.set_m_area=Node.prototype.AF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);rz(c,a)};Object.defineProperty(Node.prototype,"m_area",{get:Node.prototype.JC,set:Node.prototype.AF});Node.prototype.__destroy__=function(){sz(this.kB)};function CF(){throw"cannot construct a tNodeArray, no constructor in IDL";}CF.prototype=Object.create(f.prototype);CF.prototype.constructor=CF;CF.prototype.lB=CF;CF.mB={};
+b.tNodeArray=CF;CF.prototype.size=CF.prototype.size=function(){return tz(this.kB)};CF.prototype.at=CF.prototype.at=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(uz(c,a),Node)};CF.prototype.__destroy__=function(){vz(this.kB)};function V(){throw"cannot construct a Material, no constructor in IDL";}V.prototype=Object.create(f.prototype);V.prototype.constructor=V;V.prototype.lB=V;V.mB={};b.Material=V;V.prototype.get_m_kLST=V.prototype.BD=function(){return wz(this.kB)};
+V.prototype.set_m_kLST=V.prototype.sG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);xz(c,a)};Object.defineProperty(V.prototype,"m_kLST",{get:V.prototype.BD,set:V.prototype.sG});V.prototype.get_m_kAST=V.prototype.AD=function(){return yz(this.kB)};V.prototype.set_m_kAST=V.prototype.rG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);zz(c,a)};Object.defineProperty(V.prototype,"m_kAST",{get:V.prototype.AD,set:V.prototype.rG});V.prototype.get_m_kVST=V.prototype.CD=function(){return Az(this.kB)};
+V.prototype.set_m_kVST=V.prototype.tG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Bz(c,a)};Object.defineProperty(V.prototype,"m_kVST",{get:V.prototype.CD,set:V.prototype.tG});V.prototype.get_m_flags=V.prototype.tB=function(){return Cz(this.kB)};V.prototype.set_m_flags=V.prototype.uB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Dz(c,a)};Object.defineProperty(V.prototype,"m_flags",{get:V.prototype.tB,set:V.prototype.uB});V.prototype.__destroy__=function(){Ez(this.kB)};
+function DF(){throw"cannot construct a tMaterialArray, no constructor in IDL";}DF.prototype=Object.create(f.prototype);DF.prototype.constructor=DF;DF.prototype.lB=DF;DF.mB={};b.tMaterialArray=DF;DF.prototype.size=DF.prototype.size=function(){return Fz(this.kB)};DF.prototype.at=DF.prototype.at=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(Gz(c,a),V)};DF.prototype.__destroy__=function(){Hz(this.kB)};function W(){throw"cannot construct a Anchor, no constructor in IDL";}
+W.prototype=Object.create(f.prototype);W.prototype.constructor=W;W.prototype.lB=W;W.mB={};b.Anchor=W;W.prototype.get_m_node=W.prototype.PD=function(){return k(Iz(this.kB),Node)};W.prototype.set_m_node=W.prototype.GG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Jz(c,a)};Object.defineProperty(W.prototype,"m_node",{get:W.prototype.PD,set:W.prototype.GG});W.prototype.get_m_local=W.prototype.FD=function(){return k(Kz(this.kB),m)};
+W.prototype.set_m_local=W.prototype.wG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Lz(c,a)};Object.defineProperty(W.prototype,"m_local",{get:W.prototype.FD,set:W.prototype.wG});W.prototype.get_m_body=W.prototype.KC=function(){return k(Mz(this.kB),K)};W.prototype.set_m_body=W.prototype.BF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Nz(c,a)};Object.defineProperty(W.prototype,"m_body",{get:W.prototype.KC,set:W.prototype.BF});W.prototype.get_m_influence=W.prototype.yD=function(){return Oz(this.kB)};
+W.prototype.set_m_influence=W.prototype.pG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Pz(c,a)};Object.defineProperty(W.prototype,"m_influence",{get:W.prototype.yD,set:W.prototype.pG});W.prototype.get_m_c0=W.prototype.NC=function(){return k(Qz(this.kB),uE)};W.prototype.set_m_c0=W.prototype.EF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Rz(c,a)};Object.defineProperty(W.prototype,"m_c0",{get:W.prototype.NC,set:W.prototype.EF});
+W.prototype.get_m_c1=W.prototype.OC=function(){return k(Sz(this.kB),m)};W.prototype.set_m_c1=W.prototype.FF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Tz(c,a)};Object.defineProperty(W.prototype,"m_c1",{get:W.prototype.OC,set:W.prototype.FF});W.prototype.get_m_c2=W.prototype.PC=function(){return Uz(this.kB)};W.prototype.set_m_c2=W.prototype.GF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Vz(c,a)};Object.defineProperty(W.prototype,"m_c2",{get:W.prototype.PC,set:W.prototype.GF});
+W.prototype.__destroy__=function(){Wz(this.kB)};function EF(){throw"cannot construct a tAnchorArray, no constructor in IDL";}EF.prototype=Object.create(f.prototype);EF.prototype.constructor=EF;EF.prototype.lB=EF;EF.mB={};b.tAnchorArray=EF;EF.prototype.size=EF.prototype.size=function(){return Xz(this.kB)};EF.prototype.at=EF.prototype.at=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(Yz(c,a),W)};EF.prototype.clear=EF.prototype.clear=function(){Zz(this.kB)};
+EF.prototype.push_back=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);$z(c,a)};EF.prototype.pop_back=function(){aA(this.kB)};EF.prototype.__destroy__=function(){bA(this.kB)};function X(){throw"cannot construct a Config, no constructor in IDL";}X.prototype=Object.create(f.prototype);X.prototype.constructor=X;X.prototype.lB=X;X.mB={};b.Config=X;X.prototype.get_kVCF=X.prototype.zC=function(){return cA(this.kB)};
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+Y.prototype.appendNode=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);eB(d,a,c)};Y.prototype.appendLink=function(a,c,d,e){var g=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);fB(g,a,c,d,e)};
+Y.prototype.appendFace=function(a,c,d,e){var g=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);gB(g,a,c,d,e)};Y.prototype.appendTetra=function(a,c,d,e,g){var n=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);g&&"object"===typeof g&&(g=g.kB);hB(n,a,c,d,e,g)};
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+Y.prototype.getTotalMass=function(){return mB(this.kB)};Y.prototype.setTotalMass=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);nB(d,a,c)};Y.prototype.setMass=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);oB(d,a,c)};Y.prototype.transform=Y.prototype.transform=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);pB(c,a)};
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+Z.prototype.addConstraint=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);void 0===c?VC(d,a):WC(d,a,c)};Z.prototype.removeConstraint=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);XC(c,a)};Z.prototype.stepSimulation=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);return void 0===c?YC(e,a):void 0===d?ZC(e,a,c):$C(e,a,c,d)};
+Z.prototype.setContactAddedCallback=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);aD(c,a)};Z.prototype.setContactProcessedCallback=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);bD(c,a)};Z.prototype.setContactDestroyedCallback=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);cD(c,a)};Z.prototype.addAction=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);dD(c,a)};Z.prototype.removeAction=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);eD(c,a)};
+Z.prototype.getSolverInfo=function(){return k(fD(this.kB),t)};Z.prototype.setInternalTickCallback=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);void 0===c?gD(e,a):void 0===d?hD(e,a,c):iD(e,a,c,d)};Z.prototype.__destroy__=function(){jD(this.kB)};function IF(){this.kB=kD();h(IF)[this.kB]=this}IF.prototype=Object.create(f.prototype);IF.prototype.constructor=IF;IF.prototype.lB=IF;IF.mB={};b.btSoftBodyHelpers=IF;
+IF.prototype.CreateRope=function(a,c,d,e,g){var n=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);g&&"object"===typeof g&&(g=g.kB);return k(lD(n,a,c,d,e,g),Y)};
+IF.prototype.CreatePatch=function(a,c,d,e,g,n,z,T,Da){var dc=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);g&&"object"===typeof g&&(g=g.kB);n&&"object"===typeof n&&(n=n.kB);z&&"object"===typeof z&&(z=z.kB);T&&"object"===typeof T&&(T=T.kB);Da&&"object"===typeof Da&&(Da=Da.kB);return k(mD(dc,a,c,d,e,g,n,z,T,Da),Y)};
+IF.prototype.CreatePatchUV=function(a,c,d,e,g,n,z,T,Da,dc){var JF=this.kB;ND();a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);g&&"object"===typeof g&&(g=g.kB);n&&"object"===typeof n&&(n=n.kB);z&&"object"===typeof z&&(z=z.kB);T&&"object"===typeof T&&(T=T.kB);Da&&"object"===typeof Da&&(Da=Da.kB);"object"==typeof dc&&(dc=RD(dc));return k(nD(JF,a,c,d,e,g,n,z,T,Da,dc),Y)};
+IF.prototype.CreateEllipsoid=function(a,c,d,e){var g=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);return k(oD(g,a,c,d,e),Y)};
+IF.prototype.CreateFromTriMesh=function(a,c,d,e,g){var n=this.kB;ND();a&&"object"===typeof a&&(a=a.kB);"object"==typeof c&&(c=RD(c));if("object"==typeof d&&"object"===typeof d){var z=OD(d,va);PD(d,va,z);d=z}e&&"object"===typeof e&&(e=e.kB);g&&"object"===typeof g&&(g=g.kB);return k(pD(n,a,c,d,e,g),Y)};
+IF.prototype.CreateFromConvexHull=function(a,c,d,e){var g=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);return k(qD(g,a,c,d,e),Y)};IF.prototype.__destroy__=function(){rD(this.kB)};
+(function(){function a(){b.PHY_FLOAT=sD();b.PHY_DOUBLE=tD();b.PHY_INTEGER=uD();b.PHY_SHORT=vD();b.PHY_FIXEDPOINT88=wD();b.PHY_UCHAR=xD();b.CONST_GIMPACT_COMPOUND_SHAPE=yD();b.CONST_GIMPACT_TRIMESH_SHAPE_PART=zD();b.CONST_GIMPACT_TRIMESH_SHAPE=AD();b.BT_CONSTRAINT_ERP=BD();b.BT_CONSTRAINT_STOP_ERP=CD();b.BT_CONSTRAINT_CFM=DD();b.BT_CONSTRAINT_STOP_CFM=ED()}Ca?a():Aa.unshift(a)})();b.CONTACT_ADDED_CALLBACK_SIGNATURE="iiiiiiii";b.CONTACT_DESTROYED_CALLBACK_SIGNATURE="ii";
+b.CONTACT_PROCESSED_CALLBACK_SIGNATURE="iiii";b.INTERNAL_TICK_CALLBACK_SIGNATURE="vif";this.Ammo=b;
+
+
+  return Ammo.ready
+}
+
+);
+})();
+if (typeof exports === 'object' && typeof module === 'object')
+  module.exports = Ammo;
+else if (typeof define === 'function' && define['amd'])
+  define([], function() { return Ammo; });
+else if (typeof exports === 'object')
+  exports["Ammo"] = Ammo;

apps/control-station/src/components/RecordedFmp4Player.tsx

@@ -352,6 +352,7 @@ interface RecordedSegmentStreamRuntime {
   target: RecordedSegmentTarget | null;
   fetchAbort: AbortController | null;
   notifiedRevision: number;
+  hasPresentedFrame: boolean;
   pumping: boolean;
   disposed: boolean;
   onTargetBuffered: ((target: RecordedSegmentTarget) => void) | null;
@@ -944,6 +945,7 @@ export function RecordedFmp4Player({
         target: null,
         fetchAbort: null,
         notifiedRevision: 0,
+        hasPresentedFrame: false,
         pumping: false,
         disposed: false,
         onTargetBuffered: null,
@@ -1090,8 +1092,13 @@ export function RecordedFmp4Player({
     runtime.fetchAbort?.abort();
     runtime.target = target;
     const alreadyBuffered = recordedSegmentTargetBuffered(runtime, target);
+    const retainForwardFrame = Boolean(
+      runtime.hasPresentedFrame
+      && previousTarget
+      && candidateTarget.sequence >= previousTarget.sequence,
+    );
     video.pause();
-    if (!alreadyBuffered) {
+    if (!alreadyBuffered && !retainForwardFrame) {
       setReadyGeneration(null);
       setState("loading");
     }
@@ -1119,6 +1126,7 @@ export function RecordedFmp4Player({
             || runtime.target?.revision !== bufferedTarget.revision
           ) return;
           setBufferRevision((revision) => revision + 1);
+          runtime.hasPresentedFrame = true;
           setReadyGeneration(runtime.generation);
           setState("ready");
           reportAdmission({

apps/control-station/src/components/laboratory/LaboratoryMetricEvidenceScene.tsx

@@ -1,6 +1,7 @@
 import {
   forwardRef,
   type CSSProperties,
+  useCallback,
   useEffect,
   useImperativeHandle,
   useRef,
@@ -41,11 +42,41 @@ export interface LaboratoryMetricCorridorVisual {
   halfWidthM: number;
 }
 
+export type LaboratoryMetricCellState =
+  | "unobserved"
+  | "ground-support"
+  | "nonground-occupied"
+  | "unknown-rejected";
+
+export interface LaboratoryMetricCellEvidence {
+  centerBodyXyM: readonly [number, number];
+  zBoundsM: readonly [number | null, number | null];
+  state: LaboratoryMetricCellState;
+}
+
+export interface LaboratoryMetricPackedCellEvidence {
+  centersBodyXyM: Float32Array;
+  zBoundsM: Float32Array;
+  stateCodes: Uint8Array;
+}
+
 export interface LaboratoryMetricLegendEntry {
-  id: LaboratoryMetricDecision | "context" | "local-surface" | "rolling" | "low-step";
+  id: LaboratoryMetricDecision
+    | LaboratoryMetricCellState
+    | "context"
+    | "local-surface"
+    | "rolling"
+    | "low-step";
   label: string;
 }
 
+interface LaboratoryMetricRenderStats {
+  frameMs: number;
+  drawCalls: number;
+  triangles: number;
+  pixelRatio: number;
+}
+
 export function laboratoryMetricLegendEntries({
   pointCloudCount,
   localSurfaceCount,
@@ -152,6 +183,47 @@ function positions(points: readonly LaboratoryMetricPoint3[]): Float32Array {
   return result;
 }
 
+function updatePointPositions(
+  geometry: THREE.BufferGeometry,
+  points: readonly LaboratoryMetricPoint3[],
+): void {
+  const requiredValues = points.length * 3;
+  let attribute = geometry.getAttribute("position") as THREE.BufferAttribute | undefined;
+  if (!attribute || attribute.array.length < requiredValues) {
+    let capacity = 3;
+    while (capacity < requiredValues) capacity *= 2;
+    attribute = new THREE.BufferAttribute(new Float32Array(capacity), 3);
+    attribute.setUsage(THREE.DynamicDrawUsage);
+    geometry.setAttribute("position", attribute);
+  }
+  const values = attribute.array as Float32Array;
+  points.forEach((point, index) => {
+    const [x, y, z] = scenePoint(point);
+    const offset = index * 3;
+    values[offset] = x;
+    values[offset + 1] = y;
+    values[offset + 2] = z;
+  });
+  attribute.needsUpdate = true;
+  geometry.setDrawRange(0, points.length);
+}
+
+function ensurePointColors(
+  geometry: THREE.BufferGeometry,
+  pointCount: number,
+): THREE.BufferAttribute {
+  const requiredValues = pointCount * 3;
+  let attribute = geometry.getAttribute("color") as THREE.BufferAttribute | undefined;
+  if (!attribute || attribute.array.length < requiredValues) {
+    let capacity = 3;
+    while (capacity < requiredValues) capacity *= 2;
+    attribute = new THREE.BufferAttribute(new Float32Array(capacity), 3);
+    attribute.setUsage(THREE.DynamicDrawUsage);
+    geometry.setAttribute("color", attribute);
+  }
+  return attribute;
+}
+
 function decisionColor(
   host: HTMLElement,
   decision: LaboratoryMetricDecision,
@@ -197,6 +269,10 @@ LaboratoryMetricEvidenceSceneHandle,
   pointSemanticClassIds?: readonly (number | null)[];
   semanticClasses?: readonly RecordedEvidenceSemanticClass[];
   semanticPalette?: readonly RecordedEvidenceSemanticPaletteEntry[];
+  classifiedCells?: readonly LaboratoryMetricCellEvidence[];
+  classifiedPackedCells?: LaboratoryMetricPackedCellEvidence;
+  classifiedCellSizeM?: number;
+  showClassifiedCells?: boolean;
 }
 >(function LaboratoryMetricEvidenceScene({
   pointCloudBodyXyzM,
@@ -214,6 +290,10 @@ LaboratoryMetricEvidenceSceneHandle,
   pointSemanticClassIds,
   semanticClasses,
   semanticPalette,
+  classifiedCells = [],
+  classifiedPackedCells,
+  classifiedCellSizeM = 0.45,
+  showClassifiedCells = true,
 }, ref) {
   const hostRef = useRef<HTMLDivElement | null>(null);
   const sceneRef = useRef<THREE.Scene | null>(null);
@@ -221,7 +301,19 @@ LaboratoryMetricEvidenceSceneHandle,
   const controlsRef = useRef<OrbitControls | null>(null);
   const staticContentRef = useRef<THREE.Group | null>(null);
   const dynamicContentRef = useRef<THREE.Group | null>(null);
+  const classifiedContentRef = useRef<THREE.Group | null>(null);
+  const localSurfacePointsRef = useRef<THREE.Points | null>(null);
+  const currentIncrementPointsRef = useRef<THREE.Points | null>(null);
+  const requestRenderRef = useRef<() => void>(() => undefined);
+  const corridorForwardLengthRef = useRef(corridor.forwardLengthM);
+  const modeRef = useRef(mode);
+  const classifiedMeshesRef = useRef<ReadonlyMap<LaboratoryMetricCellState, THREE.InstancedMesh>>(
+    new Map(),
+  );
   const [renderError, setRenderError] = useState<string | null>(null);
+  const [renderStats, setRenderStats] = useState<LaboratoryMetricRenderStats | null>(null);
+  corridorForwardLengthRef.current = corridor.forwardLengthM;
+  modeRef.current = mode;
 
   useEffect(() => {
     const host = hostRef.current;
@@ -255,12 +347,76 @@ LaboratoryMetricEvidenceSceneHandle,
     controls.maxDistance = 80;
     const staticContent = new THREE.Group();
     const dynamicContent = new THREE.Group();
-    scene.add(staticContent, dynamicContent);
+    const classifiedContent = new THREE.Group();
+    const localSurfacePoints = new THREE.Points(
+      new THREE.BufferGeometry(),
+      new THREE.PointsMaterial({
+        color: tokenColor(host, "--nodedc-accent-rgb", [247, 248, 244]),
+        size: 1.3,
+        sizeAttenuation: false,
+        transparent: true,
+        opacity: 0.42,
+        depthWrite: false,
+      }),
+    );
+    const currentIncrementPoints = new THREE.Points(
+      new THREE.BufferGeometry(),
+      new THREE.PointsMaterial({
+        color: tokenColor(host, "--nodedc-text-muted", [147, 151, 159]),
+        size: 1.55,
+        sizeAttenuation: false,
+        transparent: true,
+        opacity: 0.58,
+        depthWrite: false,
+      }),
+    );
+    localSurfacePoints.visible = false;
+    localSurfacePoints.frustumCulled = false;
+    currentIncrementPoints.visible = false;
+    currentIncrementPoints.frustumCulled = false;
+    scene.add(
+      staticContent,
+      localSurfacePoints,
+      currentIncrementPoints,
+      dynamicContent,
+      classifiedContent,
+    );
     sceneRef.current = scene;
     cameraRef.current = camera;
     controlsRef.current = controls;
     staticContentRef.current = staticContent;
     dynamicContentRef.current = dynamicContent;
+    classifiedContentRef.current = classifiedContent;
+    localSurfacePointsRef.current = localSurfacePoints;
+    currentIncrementPointsRef.current = currentIncrementPoints;
+
+    let animationFrame: number | null = null;
+    let lastStatsAt = Number.NEGATIVE_INFINITY;
+    const render = () => {
+      animationFrame = null;
+      // OrbitControls emits another change while damping is still settling, so
+      // this remains smooth during interaction without rendering forever while
+      // the evidence scene is idle.
+      controls.update();
+      const startedAt = performance.now();
+      renderer.render(scene, camera);
+      const completedAt = performance.now();
+      if (completedAt - lastStatsAt >= 1_000) {
+        lastStatsAt = completedAt;
+        setRenderStats({
+          frameMs: completedAt - startedAt,
+          drawCalls: renderer.info.render.calls,
+          triangles: renderer.info.render.triangles,
+          pixelRatio: renderer.getPixelRatio(),
+        });
+      }
+    };
+    const requestRender = () => {
+      if (animationFrame !== null) return;
+      animationFrame = window.requestAnimationFrame(render);
+    };
+    requestRenderRef.current = requestRender;
+    controls.addEventListener("change", requestRender);
 
     const resize = () => {
       const width = Math.max(host.clientWidth, 1);
@@ -268,21 +424,17 @@ LaboratoryMetricEvidenceSceneHandle,
       camera.aspect = width / height;
       camera.updateProjectionMatrix();
       renderer.setSize(width, height, false);
+      requestRender();
     };
     const observer = new ResizeObserver(resize);
     observer.observe(host);
     resize();
 
-    let animationFrame = 0;
-    const render = () => {
-      animationFrame = window.requestAnimationFrame(render);
-      controls.update();
-      renderer.render(scene, camera);
-    };
-    render();
+    requestRender();
     return () => {
-      window.cancelAnimationFrame(animationFrame);
+      if (animationFrame !== null) window.cancelAnimationFrame(animationFrame);
       observer.disconnect();
+      controls.removeEventListener("change", requestRender);
       controls.dispose();
       scene.traverse(disposeRenderable);
       renderer.dispose();
@@ -292,6 +444,11 @@ LaboratoryMetricEvidenceSceneHandle,
       controlsRef.current = null;
       staticContentRef.current = null;
       dynamicContentRef.current = null;
+      classifiedContentRef.current = null;
+      localSurfacePointsRef.current = null;
+      currentIncrementPointsRef.current = null;
+      requestRenderRef.current = () => undefined;
+      classifiedMeshesRef.current = new Map();
     };
   }, []);
 
@@ -300,80 +457,77 @@ LaboratoryMetricEvidenceSceneHandle,
     if (canvas) canvas.setAttribute("aria-label", label);
   }, [label]);
 
+  useEffect(() => {
+    const points = localSurfacePointsRef.current;
+    if (!points) return;
+    points.visible = showLocalSurface && localSurfaceBodyXyzM.length > 0;
+    if (points.visible) updatePointPositions(points.geometry, localSurfaceBodyXyzM);
+    requestRenderRef.current();
+  }, [localSurfaceBodyXyzM, showLocalSurface]);
+
+  useEffect(() => {
+    const host = hostRef.current;
+    const points = currentIncrementPointsRef.current;
+    if (!host || !points) return;
+    points.visible = showCurrentIncrement && pointCloudBodyXyzM.length > 0;
+    if (!points.visible) {
+      requestRenderRef.current();
+      return;
+    }
+    updatePointPositions(points.geometry, pointCloudBodyXyzM);
+    const material = points.material as THREE.PointsMaterial;
+    const hasAlignedSemanticClasses =
+      pointSemanticClassIds !== undefined
+      && pointSemanticClassIds.length === pointCloudBodyXyzM.length
+      && semanticClasses !== undefined
+      && semanticPalette !== undefined;
+    if (!hasAlignedSemanticClasses) {
+      if (material.vertexColors) {
+        material.vertexColors = false;
+        material.needsUpdate = true;
+      }
+      material.color.copy(tokenColor(host, "--nodedc-text-muted", [147, 151, 159]));
+      requestRenderRef.current();
+      return;
+    }
+    const declaredIds = new Set(semanticClasses.map((item) => item.id));
+    const colorsByClassId = new Map<number, readonly [number, number, number]>();
+    for (const entry of semanticPalette) {
+      if (!declaredIds.has(entry.classId)) continue;
+      const rgb = resolveRecordedEvidenceSemanticRgb(host, entry.color);
+      if (rgb) colorsByClassId.set(entry.classId, rgb);
+    }
+    const context = tokenColor(host, "--nodedc-text-muted", [147, 151, 159]);
+    const colorAttribute = ensurePointColors(points.geometry, pointCloudBodyXyzM.length);
+    const pointColors = colorAttribute.array as Float32Array;
+    pointSemanticClassIds.forEach((classId, index) => {
+      const rgb = classId === null ? undefined : colorsByClassId.get(classId);
+      const offset = index * 3;
+      pointColors[offset] = rgb ? rgb[0] / 255 : context.r;
+      pointColors[offset + 1] = rgb ? rgb[1] / 255 : context.g;
+      pointColors[offset + 2] = rgb ? rgb[2] / 255 : context.b;
+    });
+    colorAttribute.needsUpdate = true;
+    if (!material.vertexColors) {
+      material.vertexColors = true;
+      material.needsUpdate = true;
+    }
+    material.color.setRGB(1, 1, 1);
+    requestRenderRef.current();
+  }, [
+    pointCloudBodyXyzM,
+    pointSemanticClassIds,
+    semanticClasses,
+    semanticPalette,
+    showCurrentIncrement,
+  ]);
+
   useEffect(() => {
     const host = hostRef.current;
     const content = dynamicContentRef.current;
     if (!host || !content) return;
     clearGroup(content);
 
-    if (showLocalSurface) {
-      const localSurfaceGeometry = new THREE.BufferGeometry();
-      localSurfaceGeometry.setAttribute(
-        "position",
-        new THREE.BufferAttribute(positions(localSurfaceBodyXyzM), 3),
-      );
-      content.add(new THREE.Points(
-        localSurfaceGeometry,
-        new THREE.PointsMaterial({
-          color: tokenColor(host, "--nodedc-accent-rgb", [247, 248, 244]),
-          size: 1.3,
-          sizeAttenuation: false,
-          transparent: true,
-          opacity: 0.42,
-          depthWrite: false,
-        }),
-      ));
-    }
-
-    if (showCurrentIncrement) {
-      const contextGeometry = new THREE.BufferGeometry();
-      contextGeometry.setAttribute(
-        "position",
-        new THREE.BufferAttribute(positions(pointCloudBodyXyzM), 3),
-      );
-      const hasAlignedSemanticClasses =
-        pointSemanticClassIds !== undefined
-        && pointSemanticClassIds.length === pointCloudBodyXyzM.length
-        && semanticClasses !== undefined
-        && semanticPalette !== undefined;
-      if (hasAlignedSemanticClasses) {
-        const declaredIds = new Set(semanticClasses.map((item) => item.id));
-        const colorsByClassId = new Map<number, readonly [number, number, number]>();
-        for (const entry of semanticPalette) {
-          if (!declaredIds.has(entry.classId)) continue;
-          const rgb = resolveRecordedEvidenceSemanticRgb(host, entry.color);
-          if (rgb) colorsByClassId.set(entry.classId, rgb);
-        }
-        const context = tokenColor(host, "--nodedc-text-muted", [147, 151, 159]);
-        const pointColors = new Float32Array(pointCloudBodyXyzM.length * 3);
-        pointSemanticClassIds.forEach((classId, index) => {
-          const rgb = classId === null ? undefined : colorsByClassId.get(classId);
-          const offset = index * 3;
-          pointColors[offset] = rgb ? rgb[0] / 255 : context.r;
-          pointColors[offset + 1] = rgb ? rgb[1] / 255 : context.g;
-          pointColors[offset + 2] = rgb ? rgb[2] / 255 : context.b;
-        });
-        contextGeometry.setAttribute(
-          "color",
-          new THREE.BufferAttribute(pointColors, 3),
-        );
-      }
-      content.add(new THREE.Points(
-        contextGeometry,
-        new THREE.PointsMaterial({
-          color: hasAlignedSemanticClasses
-            ? new THREE.Color(1, 1, 1)
-            : tokenColor(host, "--nodedc-text-muted", [147, 151, 159]),
-          vertexColors: hasAlignedSemanticClasses,
-          size: 1.55,
-          sizeAttenuation: false,
-          transparent: true,
-          opacity: 0.58,
-          depthWrite: false,
-        }),
-      ));
-    }
-
     for (const obstacle of obstacles) {
       if (
         (
@@ -442,21 +596,150 @@ LaboratoryMetricEvidenceSceneHandle,
         content.add(centroid);
       }
     }
-
+    requestRenderRef.current();
   }, [
     obstacles,
     occupiedVoxelSizeM,
-    localSurfaceBodyXyzM,
-    pointCloudBodyXyzM,
-    pointSemanticClassIds,
-    semanticClasses,
-    semanticPalette,
     showCurrentIncrement,
-    showLocalSurface,
     showRollingMap,
     showLowStep,
   ]);
 
+  useEffect(() => {
+    const host = hostRef.current;
+    const content = classifiedContentRef.current;
+    if (!host || !content) return;
+    const packedCellCount = classifiedPackedCells?.stateCodes.length ?? 0;
+    const packedCellsValid = !classifiedPackedCells || (
+      classifiedPackedCells.centersBodyXyM.length === packedCellCount * 2
+      && classifiedPackedCells.zBoundsM.length === packedCellCount * 2
+    );
+    const cellCount = packedCellsValid && classifiedPackedCells
+      ? packedCellCount
+      : classifiedCells.length;
+    content.visible = showClassifiedCells && cellCount > 0;
+    if (!content.visible) {
+      requestRenderRef.current();
+      return;
+    }
+
+    const requiredCapacity = cellCount;
+    const currentMeshes = classifiedMeshesRef.current;
+    const firstMesh = currentMeshes.values().next().value as THREE.InstancedMesh | undefined;
+    const needsAllocation = !firstMesh
+      || Number(firstMesh.userData.capacity ?? 0) < requiredCapacity
+      || Number(firstMesh.userData.cellSizeM ?? 0) !== classifiedCellSizeM;
+    if (needsAllocation) {
+      clearGroup(content);
+      const meshes = new Map<LaboratoryMetricCellState, THREE.InstancedMesh>();
+      const states: readonly LaboratoryMetricCellState[] = [
+        "unobserved",
+        "ground-support",
+        "nonground-occupied",
+        "unknown-rejected",
+      ];
+      for (const state of states) {
+        const color = state === "ground-support"
+          ? tokenColor(host, "--nodedc-success-rgb", [181, 255, 90])
+          : state === "nonground-occupied"
+            ? tokenColor(host, "--nodedc-danger-rgb", [255, 104, 112])
+            : state === "unknown-rejected"
+              ? tokenColor(host, "--nodedc-warning-rgb", [255, 197, 92])
+              : tokenColor(host, "--nodedc-text-muted", [96, 99, 106]);
+        const mesh = new THREE.InstancedMesh(
+          new THREE.BoxGeometry(classifiedCellSizeM * 0.92, 1, classifiedCellSizeM * 0.92),
+          new THREE.MeshBasicMaterial({
+            color,
+            transparent: true,
+            opacity: state === "unobserved" ? 0.035 : state === "ground-support" ? 0.12 : 0.24,
+            depthWrite: false,
+          }),
+          requiredCapacity,
+        );
+        mesh.count = 0;
+        mesh.instanceMatrix.setUsage(THREE.DynamicDrawUsage);
+        mesh.frustumCulled = false;
+        mesh.userData.capacity = requiredCapacity;
+        mesh.userData.cellSizeM = classifiedCellSizeM;
+        meshes.set(state, mesh);
+        content.add(mesh);
+      }
+      classifiedMeshesRef.current = meshes;
+    }
+
+    const meshes = classifiedMeshesRef.current;
+    const counts = new Map<LaboratoryMetricCellState, number>();
+    const matrix = new THREE.Matrix4();
+    const position = new THREE.Vector3();
+    const scale = new THREE.Vector3(1, 1, 1);
+    const rotation = new THREE.Quaternion();
+    const setCell = (
+      state: LaboratoryMetricCellState,
+      centerX: number,
+      centerY: number,
+      minimum: number | null,
+      maximum: number | null,
+    ) => {
+      const mesh = meshes.get(state);
+      if (!mesh) return;
+      const index = counts.get(state) ?? 0;
+      const height = minimum === null || maximum === null
+        ? 0.018
+        : Math.max(0.018, maximum - minimum);
+      const centerZ = minimum === null || maximum === null
+        ? -0.012
+        : (minimum + maximum) / 2;
+      const [sceneX, sceneY, sceneZ] = scenePoint([
+        centerX,
+        centerY,
+        centerZ,
+      ]);
+      position.set(sceneX, sceneY, sceneZ);
+      scale.set(1, height, 1);
+      matrix.compose(position, rotation, scale);
+      mesh.setMatrixAt(index, matrix);
+      counts.set(state, index + 1);
+    };
+    if (packedCellsValid && classifiedPackedCells) {
+      for (let cellIndex = 0; cellIndex < packedCellCount; cellIndex += 1) {
+        const code = classifiedPackedCells.stateCodes[cellIndex];
+        const state: LaboratoryMetricCellState = code === 1
+          ? "ground-support"
+          : code === 2
+            ? "nonground-occupied"
+            : code === 3
+              ? "unknown-rejected"
+              : code === 0
+                ? "unobserved"
+                : "unknown-rejected";
+        const minimum = classifiedPackedCells.zBoundsM[cellIndex * 2]!;
+        const maximum = classifiedPackedCells.zBoundsM[cellIndex * 2 + 1]!;
+        setCell(
+          state,
+          classifiedPackedCells.centersBodyXyM[cellIndex * 2]!,
+          classifiedPackedCells.centersBodyXyM[cellIndex * 2 + 1]!,
+          Number.isFinite(minimum) ? minimum : null,
+          Number.isFinite(maximum) ? maximum : null,
+        );
+      }
+    } else {
+      for (const cell of classifiedCells) {
+        setCell(
+          cell.state,
+          cell.centerBodyXyM[0],
+          cell.centerBodyXyM[1],
+          cell.zBoundsM[0],
+          cell.zBoundsM[1],
+        );
+      }
+    }
+    for (const [state, mesh] of meshes) {
+      mesh.count = counts.get(state) ?? 0;
+      mesh.instanceMatrix.needsUpdate = true;
+    }
+    requestRenderRef.current();
+  }, [classifiedCellSizeM, classifiedCells, classifiedPackedCells, showClassifiedCells]);
+
   useEffect(() => {
     const host = hostRef.current;
     const content = staticContentRef.current;
@@ -521,15 +804,24 @@ LaboratoryMetricEvidenceSceneHandle,
       material.depthWrite = false;
     });
     content.add(grid);
-  }, [corridor, rig]);
+    requestRenderRef.current();
+  }, [
+    corridor.forwardLengthM,
+    corridor.halfWidthM,
+    corridor.rearMarginM,
+    rig.lengthM,
+    rig.nominalSensorHeightM,
+    rig.widthM,
+  ]);
 
-  const resetView = () => {
+  const resetView = useCallback(() => {
     const camera = cameraRef.current;
     const controls = controlsRef.current;
     if (!camera || !controls) return;
-    controls.target.set(corridor.forwardLengthM * 0.35, 0.6, 0);
-    if (mode === "plan") {
-      camera.position.set(corridor.forwardLengthM * 0.35, 15, 0.001);
+    const forwardLengthM = corridorForwardLengthRef.current;
+    controls.target.set(forwardLengthM * 0.35, 0.6, 0);
+    if (modeRef.current === "plan") {
+      camera.position.set(forwardLengthM * 0.35, 15, 0.001);
       camera.up.set(0, 0, -1);
     } else {
       camera.position.set(-4.5, 4.8, 8.5);
@@ -537,10 +829,13 @@ LaboratoryMetricEvidenceSceneHandle,
     }
     camera.updateProjectionMatrix();
     controls.update();
-  };
+    requestRenderRef.current();
+  }, []);
 
-  useEffect(resetView, [corridor.forwardLengthM, mode]);
-  useImperativeHandle(ref, () => ({ resetView }));
+  // Playback data and rig object identities must never reset an operator's
+  // orbit. Only a deliberate 3D/PLAN mode transition chooses a default view.
+  useEffect(() => resetView(), [mode, resetView]);
+  useImperativeHandle(ref, () => ({ resetView }), [resetView]);
 
   const semanticLegendEntries = (() => {
     if (
@@ -563,7 +858,9 @@ LaboratoryMetricEvidenceSceneHandle,
     });
   })();
   const metricLegendEntries = laboratoryMetricLegendEntries({
-    pointCloudCount: pointCloudBodyXyzM.length,
+    pointCloudCount: pointSemanticClassIds?.every((item) => item !== null)
+      ? 0
+      : pointCloudBodyXyzM.length,
     localSurfaceCount: localSurfaceBodyXyzM.length,
     obstacles,
     showCurrentIncrement,
@@ -571,6 +868,43 @@ LaboratoryMetricEvidenceSceneHandle,
     showRollingMap,
     showLowStep,
   });
+  const classifiedLegendEntries = (() => {
+    const states = new Set<LaboratoryMetricCellState>();
+    if (classifiedPackedCells) {
+      for (const code of classifiedPackedCells.stateCodes) {
+        states.add(code === 1
+          ? "ground-support"
+          : code === 2
+            ? "nonground-occupied"
+            : code === 3
+              ? "unknown-rejected"
+              : code === 0
+                ? "unobserved"
+                : "unknown-rejected");
+      }
+    } else {
+      classifiedCells.forEach((cell) => states.add(cell.state));
+    }
+    if (!showClassifiedCells || !states.size) return [];
+    return [
+      states.has("ground-support")
+        ? { id: "ground-support" as const, label: "Ground support" }
+        : null,
+      states.has("nonground-occupied")
+        ? { id: "nonground-occupied" as const, label: "Non-ground occupied" }
+        : null,
+      states.has("unknown-rejected")
+        ? { id: "unknown-rejected" as const, label: "Unknown / rejected" }
+        : null,
+      states.has("unobserved")
+        ? { id: "unobserved" as const, label: "Unobserved" }
+        : null,
+    ]
+      .filter((entry): entry is NonNullable<typeof entry> => entry !== null)
+      .filter((entry) => !semanticLegendEntries.some(
+        (semanticEntry) => semanticEntry.label === entry.label,
+      ));
+  })();
 
   return (
     <div className="laboratory-metric-evidence-scene">
@@ -578,9 +912,22 @@ LaboratoryMetricEvidenceSceneHandle,
         {renderError ? <p>{renderError}</p> : null}
       </div>
       <div className="laboratory-metric-evidence-scene__legend">
+        {renderStats ? (
+          <span
+            data-decision="performance"
+            title="CPU-время отправки последнего WebGL render pass; это не GPU timer. В покое сцена не перерисовывается."
+          >
+            3D {renderStats.frameMs.toFixed(1)} ms · {renderStats.drawCalls} draw · {renderStats.triangles.toLocaleString("ru-RU")} tri · {(
+              classifiedPackedCells?.stateCodes.length ?? classifiedCells.length
+            ).toLocaleString("ru-RU")} cells · {renderStats.pixelRatio.toFixed(1)}×
+          </span>
+        ) : null}
         {metricLegendEntries.map((entry) => (
           <span key={entry.id} data-decision={entry.id}>{entry.label}</span>
         ))}
+        {classifiedLegendEntries.map((entry) => (
+          <span key={entry.id} data-decision={entry.id}>{entry.label}</span>
+        ))}
         {semanticLegendEntries.map((entry) => (
           <span
             key={entry.id}

apps/control-station/src/components/laboratory/RecordedEvidenceSemanticMaskOverlay.tsx

@@ -510,16 +510,21 @@ export function RecordedEvidenceSemanticMaskOverlay({
 }) {
   const canvasRef = useRef<HTMLCanvasElement | null>(null);
   const rendererRef = useRef<SemanticMaskRenderer | null | undefined>(undefined);
+  const lastReadyMaskRef = useRef<{ series: string; mask: DecodedSemanticMask } | null>(null);
   const [rendererMode, setRendererMode] = useState<"webgl" | "2d">("webgl");
   const [mask, setMask] = useState<DecodedSemanticMask | null>(null);
   const [failure, setFailure] = useState<string | null>(null);
   const expectedKey = semanticMaskKey(src, imageWidth, imageHeight);
   const prefetchSignature = prefetchSrcs.join("\n");
-  const renderMask = failure
+  const series = src.slice(0, Math.max(src.lastIndexOf("/"), 0));
+  if (lastReadyMaskRef.current?.series !== series) lastReadyMaskRef.current = null;
+  const exactMask = failure
     ? null
     : mask?.key === expectedKey
       ? mask
       : decodedMaskCache.get(expectedKey) ?? null;
+  if (exactMask) lastReadyMaskRef.current = { series, mask: exactMask };
+  const renderMask = exactMask ?? lastReadyMaskRef.current?.mask ?? null;
 
   useEffect(() => {
     setFailure(null);
@@ -627,8 +632,8 @@ export function RecordedEvidenceSemanticMaskOverlay({
         className="recorded-evidence-semantic-mask-overlay"
         role="img"
         aria-label={ariaLabel}
-        aria-busy={!failure && !renderMask}
-        data-state={failure ? "error" : renderMask ? "ready" : "loading"}
+        aria-busy={!failure && !exactMask}
+        data-state={failure ? "error" : exactMask ? "ready" : renderMask ? "stale" : "loading"}
         data-renderer={rendererMode}
         style={{ zIndex: 1 }}
       />

apps/control-station/src/components/simulation/PlayCanvasRuntime.ts

@@ -1,25 +1,34 @@
 import {
   Application,
   Asset,
+  BLEND_NONE,
   BLEND_NORMAL,
   Color,
   CULLFACE_NONE,
   Entity,
   FILLMODE_NONE,
   Mat4,
+  Quat,
   RESOLUTION_AUTO,
   StandardMaterial,
   Vec2,
   Vec3,
   WasmModule,
   type ContainerResource,
-  type RenderComponent,
+  type ModelComponent,
   type ScriptType,
 } from "playcanvas";
 import { CameraControls } from "playcanvas/scripts/esm/camera-controls.mjs";
 
+import {
+  prepareSimulationPhysics,
+  SimulationUgvController,
+  type AmmoApi,
+} from "./SimulationUgvController";
+
 import type {
-  SimulationTransformAxis,
+  SimulationEulerRotation,
+  SimulationUgvPreset,
   SimulationViewerQuality,
   SimulationWorldManifest,
 } from "../../core/simulation/projects";
@@ -28,46 +37,18 @@ export type SimulationViewMode = "visual" | "collision" | "combined";
 export type SimulationQuality = SimulationViewerQuality;
 export type SimulationLayer = "visual" | "collision";
 export type SimulationCameraAxis = "horizontal" | "vertical";
+export type SimulationControlMode = "free" | "ugv";
 
-export const PLAYCANVAS_IDENTITY_TRANSFORM = [
-  1, 0, 0, 0,
-  0, 1, 0, 0,
-  0, 0, 1, 0,
-  0, 0, 0, 1,
-];
-
-export const PLAYCANVAS_X_180_TRANSFORM = [
-  1, 0, 0, 0,
-  0, -1, 0, 0,
-  0, 0, -1, 0,
-  0, 0, 0, 1,
-];
-
-export const PLAYCANVAS_Y_180_TRANSFORM = [
-  -1, 0, 0, 0,
-  0, 1, 0, 0,
-  0, 0, -1, 0,
-  0, 0, 0, 1,
-];
-
-export const PLAYCANVAS_Z_180_TRANSFORM = [
-  -1, 0, 0, 0,
-  0, -1, 0, 0,
-  0, 0, 1, 0,
-  0, 0, 0, 1,
-];
-
-export function playCanvasAxisTransform(axis: SimulationTransformAxis, inverted: boolean): number[] {
-  if (!inverted) return PLAYCANVAS_IDENTITY_TRANSFORM;
-  if (axis === "x") return PLAYCANVAS_X_180_TRANSFORM;
-  if (axis === "y") return PLAYCANVAS_Y_180_TRANSFORM;
-  return PLAYCANVAS_Z_180_TRANSFORM;
+export function playCanvasEulerTransform(rotation: SimulationEulerRotation): number[] {
+  return Array.from(new Mat4().setFromEulerAngles(rotation.x, rotation.y, rotation.z).data);
 }
 
 export interface SimulationRuntime {
   mount(canvas: HTMLCanvasElement): Promise<void>;
   loadWorld(manifest: SimulationWorldManifest): Promise<void>;
   setViewMode(mode: SimulationViewMode): Promise<void>;
+  setControlMode(mode: SimulationControlMode): Promise<void>;
+  setUgvPreset(preset: SimulationUgvPreset): void;
   setQuality(quality: SimulationQuality): void;
   setLayerWorldTransform(layer: SimulationLayer, transform: number[]): void;
   setCameraInversion(axis: SimulationCameraAxis, inverted: boolean): void;
@@ -78,10 +59,6 @@ export interface SimulationRuntime {
 
 type DesktopCameraInput = {
   read(): { mouse: number[] } & Record<string, number[]>;
-  _pointerId?: number;
-  _button?: number[];
-  _keyNow?: number[];
-  _keyPrev?: number[];
 };
 
 type CameraController = ScriptType & Pick<CameraControls, "reset" | "focus"> & {
@@ -123,6 +100,7 @@ export class PlayCanvasRuntime implements SimulationRuntime {
   private visualEntity: Entity | null = null;
   private visualAsset: Asset | null = null;
   private collisionEntity: Entity | null = null;
+  private collisionVisuals: ModelComponent[] = [];
   private collisionAsset: Asset | null = null;
   private collisionMaterial: StandardMaterial | null = null;
   private collisionSource: { meshUrl: string; projectId: string; worldTransform: number[] } | null = null;
@@ -131,23 +109,41 @@ export class PlayCanvasRuntime implements SimulationRuntime {
   private viewMode: SimulationViewMode = "visual";
   private quality: SimulationQuality = "high";
   private cameraInversion = { horizontal: true, vertical: false };
+  private controlMode: SimulationControlMode = "free";
+  private controlRequestVersion = 0;
+  private ugvController: SimulationUgvController | null = null;
+  private readonly lastCameraPosition = new Vec3();
+  private readonly lastCameraRotation = new Quat();
+  private cameraSnapshotReady = false;
   private renderIntervalMs = 1000 / 60;
   private renderAccumulatorMs = 0;
   private disposed = false;
-  private scheduleFrame = (deltaMs: number): void => {
-    if (!this.app || this.disposed) return;
-    this.renderAccumulatorMs += deltaMs;
+  private updateFrame = (deltaSeconds: number): void => {
+    if (!this.app || !this.camera || this.disposed) return;
+    this.ugvController?.update(deltaSeconds);
+    const position = this.camera.getPosition();
+    const rotation = this.camera.getRotation();
+    const cameraChanged = !this.cameraSnapshotReady
+      || !position.equals(this.lastCameraPosition)
+      || !rotation.equals(this.lastCameraRotation);
+    if (!cameraChanged && this.controlMode === "free") return;
+    this.lastCameraPosition.copy(position);
+    this.lastCameraRotation.copy(rotation);
+    this.cameraSnapshotReady = true;
+    this.renderAccumulatorMs += deltaSeconds * 1000;
     if (this.renderAccumulatorMs < this.renderIntervalMs) return;
     this.renderAccumulatorMs %= this.renderIntervalMs;
     this.app.renderNextFrame = true;
   };
 
   async mount(canvas: HTMLCanvasElement): Promise<void> {
-    if (this.app) throw new Error("PlayCanvas runtime уже смонтирован.");
+    if (this.app) throw new Error("Runtime сцены уже запущен.");
     this.disposed = false;
     this.renderAccumulatorMs = 0;
     this.canvas = canvas;
     configureDracoDecoder();
+    const ammo: AmmoApi = await prepareSimulationPhysics();
+    if (this.disposed) return;
     canvas.tabIndex = 0;
     canvas.addEventListener("contextmenu", preventContextMenu);
     canvas.addEventListener("pointerdown", focusCanvas, true);
@@ -161,7 +157,7 @@ export class PlayCanvasRuntime implements SimulationRuntime {
     });
     this.app = app;
     app.autoRender = false;
-    app.on("frameupdate", this.scheduleFrame);
+    app.on("update", this.updateFrame);
     app.setCanvasFillMode(FILLMODE_NONE, 1, 1);
     app.setCanvasResolution(RESOLUTION_AUTO);
     app.scene.ambientLight = new Color(0.35, 0.37, 0.42);
@@ -188,6 +184,7 @@ export class PlayCanvasRuntime implements SimulationRuntime {
     app.root.addChild(camera);
     this.camera = camera;
     this.cameraController = controller;
+    this.ugvController = new SimulationUgvController(app, canvas, camera, ammo);
 
     const light = new Entity("SimulationSun");
     light.addComponent("light", {
@@ -210,7 +207,7 @@ export class PlayCanvasRuntime implements SimulationRuntime {
     const app = this.requiredApp();
     this.unloadWorld();
     const sourceUrl = manifest.visual.streamedSogUrl ?? manifest.visual.previewSogUrl;
-    if (!sourceUrl) throw new Error("World manifest не содержит визуальный SOG.");
+    if (!sourceUrl) throw new Error("Манифест локации не содержит визуальный слой.");
     const asset = new Asset(`SimulationWorld:${manifest.projectId}`, "gsplat", { url: sourceUrl });
     app.assets.add(asset);
     this.visualAsset = asset;
@@ -233,10 +230,11 @@ export class PlayCanvasRuntime implements SimulationRuntime {
         this.visualEntity = visual;
         this.applyQuality();
         this.applyViewMode();
+        this.requestRender();
         resolve();
       };
-      const failed = (error: unknown) => {
-        reject(new Error(error instanceof Error ? error.message : "PlayCanvas не загрузил SOG."));
+      const failed = (_error: unknown) => {
+        reject(new Error("Визуальный слой не загрузился."));
       };
       asset.ready(ready);
       asset.once("error", failed);
@@ -254,7 +252,6 @@ export class PlayCanvasRuntime implements SimulationRuntime {
   }
 
   async setViewMode(mode: SimulationViewMode): Promise<void> {
-    this.resetCameraInteraction();
     this.viewMode = mode;
     this.applyViewMode();
     try {
@@ -263,13 +260,58 @@ export class PlayCanvasRuntime implements SimulationRuntime {
         this.applyViewMode();
       }
     } finally {
+      this.requestRender();
       this.canvas?.focus({ preventScroll: true });
     }
   }
 
+  async setControlMode(mode: SimulationControlMode): Promise<void> {
+    const requestVersion = ++this.controlRequestVersion;
+    const controller = this.ugvController;
+    if (!controller) throw new Error("Управление UGV ещё не готово.");
+
+    if (mode === "free") {
+      controller.disable();
+      this.controlMode = "free";
+      if (this.cameraController) this.cameraController.enabled = true;
+      this.home();
+      return;
+    }
+    if (this.controlMode === "ugv" && controller.enabled) return;
+
+    try {
+      await this.ensureCollision();
+      if (requestVersion !== this.controlRequestVersion || this.disposed) return;
+      const collisionWorld = this.collisionEntity;
+      if (!collisionWorld) throw new Error("Физический слой UGV отсутствует.");
+      if (this.cameraController) this.cameraController.enabled = false;
+      await controller.enable(collisionWorld);
+      if (requestVersion !== this.controlRequestVersion || this.disposed) {
+        controller.disable();
+        if (this.cameraController) this.cameraController.enabled = true;
+        return;
+      }
+      this.controlMode = "ugv";
+      this.cameraSnapshotReady = false;
+      this.requestRender();
+    } catch (error) {
+      controller.disable();
+      this.controlMode = "free";
+      if (this.cameraController) this.cameraController.enabled = true;
+      throw error;
+    }
+  }
+
   setQuality(quality: SimulationQuality): void {
     this.quality = quality;
     this.applyQuality();
+    this.requestRender();
+  }
+
+  setUgvPreset(preset: SimulationUgvPreset): void {
+    this.ugvController?.configure(preset);
+    this.cameraSnapshotReady = false;
+    this.requestRender();
   }
 
   setLayerWorldTransform(layer: SimulationLayer, transform: number[]): void {
@@ -278,10 +320,13 @@ export class PlayCanvasRuntime implements SimulationRuntime {
     }
     if (layer === "visual") {
       if (this.visualEntity) applyWorldTransform(this.visualEntity, transform);
+      this.requestRender();
       return;
     }
     if (this.collisionSource) this.collisionSource.worldTransform = [...transform];
     if (this.collisionEntity) applyWorldTransform(this.collisionEntity, transform);
+    this.ugvController?.syncCollisionBodies();
+    this.requestRender();
   }
 
   setCameraInversion(axis: SimulationCameraAxis, inverted: boolean): void {
@@ -289,6 +334,12 @@ export class PlayCanvasRuntime implements SimulationRuntime {
   }
 
   home(): void {
+    if (this.controlMode === "ugv" && this.ugvController?.enabled) {
+      this.ugvController.reset();
+      this.cameraSnapshotReady = false;
+      this.requestRender();
+      return;
+    }
     this.resetCameraInteraction();
     if (this.cameraController) {
       this.cameraController.reset(HOME_FOCUS, HOME_POSITION);
@@ -296,6 +347,7 @@ export class PlayCanvasRuntime implements SimulationRuntime {
       this.camera.setPosition(HOME_POSITION);
       this.camera.lookAt(HOME_FOCUS);
     }
+    this.requestRender();
     this.canvas?.focus({ preventScroll: true });
   }
 
@@ -312,6 +364,7 @@ export class PlayCanvasRuntime implements SimulationRuntime {
       this.camera.setPosition(position);
       this.camera.lookAt(focus);
     }
+    this.requestRender();
   }
 
   dispose(): void {
@@ -321,10 +374,12 @@ export class PlayCanvasRuntime implements SimulationRuntime {
     this.resizeObserver = null;
     const webgl = this.canvas?.getContext("webgl2") ?? this.canvas?.getContext("webgl");
     this.unloadWorld();
+    this.ugvController?.dispose();
+    this.ugvController = null;
     if (this.app) {
       this.app.autoRender = false;
       this.app.renderNextFrame = false;
-      this.app.off("frameupdate", this.scheduleFrame);
+      this.app.off("update", this.updateFrame);
       this.app.destroy();
     }
     webgl?.getExtension("WEBGL_lose_context")?.loseContext();
@@ -340,19 +395,26 @@ export class PlayCanvasRuntime implements SimulationRuntime {
     this.canvas = null;
     this.camera = null;
     this.cameraController = null;
+    this.controlMode = "free";
+    this.cameraSnapshotReady = false;
   }
 
   private requiredApp(): Application {
-    if (!this.app) throw new Error("PlayCanvas runtime не смонтирован.");
+    if (!this.app) throw new Error("Runtime сцены не запущен.");
     return this.app;
   }
 
+  private requestRender(): void {
+    if (this.app && !this.disposed) this.app.renderNextFrame = true;
+  }
+
   private resize(): void {
     if (!this.app || !this.canvas) return;
     const bounds = this.canvas.parentElement?.getBoundingClientRect();
     const width = Math.max(1, Math.round(bounds?.width ?? this.canvas.clientWidth));
     const height = Math.max(1, Math.round(bounds?.height ?? this.canvas.clientHeight));
     this.app.resizeCanvas(width, height);
+    this.requestRender();
   }
 
   private applyViewMode(): void {
@@ -360,36 +422,27 @@ export class PlayCanvasRuntime implements SimulationRuntime {
       this.visualEntity.enabled = this.viewMode !== "collision" || !this.collisionEntity;
     }
     if (this.collisionEntity) {
-      this.collisionEntity.enabled = this.viewMode !== "visual";
+      // Physics bodies must stay active while their green debug geometry is hidden.
+      this.collisionEntity.enabled = true;
+      const visible = this.viewMode !== "visual";
+      for (const model of this.collisionVisuals) model.enabled = visible;
     }
     if (this.collisionMaterial) {
       const combined = this.viewMode === "combined";
-      this.collisionMaterial.opacity = combined ? 0.34 : 0.82;
+      this.collisionMaterial.opacity = combined ? 0.34 : 1;
+      this.collisionMaterial.blendType = combined ? BLEND_NORMAL : BLEND_NONE;
       this.collisionMaterial.depthWrite = !combined;
       this.collisionMaterial.update();
     }
+    this.requestRender();
   }
 
   private resetCameraInteraction(): void {
     const controller = this.cameraController;
-    const canvas = this.canvas;
-    if (!controller || !canvas) return;
-    const input = controller._desktopInput;
-    const pointerId = input?._pointerId ?? -1;
-    if (pointerId >= 0 && canvas.hasPointerCapture(pointerId)) {
-      try {
-        canvas.releasePointerCapture(pointerId);
-      } catch {
-        // The browser may already have released capture after a trackpad gesture.
-      }
-    }
-    if (input) {
-      input._pointerId = -1;
-      input._button?.fill(0);
-      input._keyNow?.fill(0);
-      input._keyPrev?.fill(0);
-      input.read();
-    }
+    if (!controller) return;
+    // CameraControls owns pointer capture and its input-source lifecycle. Mutating
+    // those private fields here left the source unable to claim the next drag
+    // after a layer switch. The documented state event drains pending deltas.
     controller.fire("state");
     const state = controller._state;
     if (state) {
@@ -430,45 +483,52 @@ export class PlayCanvasRuntime implements SimulationRuntime {
     this.collisionAsset = asset;
     await new Promise<void>((resolve, reject) => {
       asset.ready((loaded) => {
-        if (this.disposed || !this.app) {
-          loaded.unload();
-          resolve();
-          return;
-        }
-        const resource = loaded.resource as ContainerResource | null;
-        if (!resource) {
-          reject(new Error("PlayCanvas не открыл collision GLB."));
-          return;
-        }
-        const entity = resource.instantiateRenderEntity({
-          castShadows: false,
-          receiveShadows: false,
-        });
-        entity.name = "CollisionWorld";
-        entity.enabled = false;
-        applyWorldTransform(entity, worldTransform);
-        app.root.addChild(entity);
-
-        const material = new StandardMaterial();
-        material.name = "SimulationCollisionMaterial";
-        material.diffuse = new Color(0.2, 0.95, 0.42);
-        material.emissive = new Color(0.08, 0.36, 0.14);
-        material.opacity = 0.34;
-        material.blendType = BLEND_NORMAL;
-        material.depthWrite = false;
-        material.cull = CULLFACE_NONE;
-        material.update();
-        for (const render of entity.findComponents("render") as RenderComponent[]) {
-          for (const meshInstance of render.meshInstances) {
-            meshInstance.material = material;
+        try {
+          if (this.disposed || !this.app) {
+            loaded.unload();
+            resolve();
+            return;
           }
+          const resource = loaded.resource as ContainerResource | null;
+          if (!resource) throw new Error("Контейнер GLB не содержит ресурса.");
+          const entity = resource.instantiateModelEntity({
+            castShadows: false,
+            receiveShadows: false,
+          });
+          entity.name = "CollisionWorld";
+          entity.enabled = false;
+          applyWorldTransform(entity, worldTransform);
+          app.root.addChild(entity);
+
+          const material = new StandardMaterial();
+          material.name = "SimulationCollisionMaterial";
+          material.diffuse = new Color(0.2, 0.95, 0.42);
+          material.emissive = new Color(0.08, 0.36, 0.14);
+          material.opacity = 0.34;
+          material.blendType = BLEND_NORMAL;
+          material.depthWrite = false;
+          material.cull = CULLFACE_NONE;
+          material.update();
+          const models = entity.findComponents("model") as ModelComponent[];
+          for (const model of models) {
+            for (const meshInstance of model.meshInstances ?? []) {
+              meshInstance.material = material;
+            }
+          }
+          this.collisionEntity = entity;
+          this.collisionVisuals = models;
+          this.collisionMaterial = material;
+          this.applyViewMode();
+          this.requestRender();
+          resolve();
+        } catch (error) {
+          reject(new Error(
+            `Слой коллизий не открылся: ${error instanceof Error ? error.message : String(error)}`,
+          ));
         }
-        this.collisionEntity = entity;
-        this.collisionMaterial = material;
-        resolve();
       });
       asset.once("error", (error: unknown) => {
-        reject(new Error(error instanceof Error ? error.message : "PlayCanvas не загрузил collision GLB."));
+        reject(new Error(`Слой коллизий не загрузился: ${String(error)}`));
       });
       app.assets.load(asset);
     });
@@ -477,7 +537,7 @@ export class PlayCanvasRuntime implements SimulationRuntime {
   private async ensureCollision(): Promise<void> {
     if (this.collisionEntity) return;
     if (!this.collisionSource) {
-      throw new Error("Collision GLB отсутствует в world manifest.");
+      throw new Error("Слой коллизий отсутствует в манифесте локации.");
     }
     if (!this.collisionLoadPromise) {
       this.collisionLoadPromise = this.loadCollision(
@@ -492,6 +552,10 @@ export class PlayCanvasRuntime implements SimulationRuntime {
   }
 
   private unloadWorld(): void {
+    this.controlRequestVersion += 1;
+    this.ugvController?.disable();
+    this.controlMode = "free";
+    if (this.cameraController) this.cameraController.enabled = true;
     if (this.visualEntity) {
       this.visualEntity.destroy();
       this.visualEntity = null;
@@ -505,6 +569,7 @@ export class PlayCanvasRuntime implements SimulationRuntime {
       this.collisionEntity.destroy();
       this.collisionEntity = null;
     }
+    this.collisionVisuals = [];
     if (this.collisionAsset && this.app) {
       this.app.assets.remove(this.collisionAsset);
       this.collisionAsset.unload();

apps/control-station/src/components/simulation/SimulationCatalog.tsx

@@ -0,0 +1,333 @@
+import {
+  ActivityIndicator,
+  Button,
+  Icon,
+  IconButton,
+  StatusBadge,
+} from "@nodedc/ui-react";
+
+import type {
+  SimulationProject,
+  SimulationProjectStatus,
+  SimulationUploadProgress,
+} from "../../core/simulation/projects";
+import { estimateSimulationProcessing } from "../../core/simulation/projects";
+
+const ACTIVE_STATUSES = new Set<SimulationProjectStatus>([
+  "uploading",
+  "queued",
+  "processing",
+  "importing",
+]);
+
+export function SimulationCatalog({
+  projects,
+  uploadProgress,
+  loading,
+  loadError,
+  queueError,
+  dropping,
+  onCreate,
+  onRetryLoad,
+  onSelect,
+  onEdit,
+  onDelete,
+}: {
+  projects: SimulationProject[];
+  uploadProgress: ReadonlyMap<string, SimulationUploadProgress>;
+  loading: boolean;
+  loadError: string | null;
+  queueError: string | null;
+  dropping: boolean;
+  onCreate: () => void;
+  onRetryLoad: () => void;
+  onSelect: (project: SimulationProject) => void;
+  onEdit: (project: SimulationProject) => void;
+  onDelete: (project: SimulationProject) => void;
+}) {
+  const sourceBytes = projects.reduce(
+    (sum, project) => sum + project.source.totalByteLength,
+    0,
+  );
+
+  return (
+    <section
+      className="simulation-catalog"
+      data-dropping={dropping ? "true" : undefined}
+      aria-label="Проекты симуляции"
+    >
+      <header className="simulation-catalog__summary">
+        <div><span>Проектов</span><strong>{projects.length.toLocaleString("ru-RU")}</strong></div>
+        <div><span>Визуал готов</span><strong>{countStatus(projects, "ready")}</strong></div>
+        <div><span>В работе</span><strong>{projects.filter((project) => ACTIVE_STATUSES.has(project.status)).length}</strong></div>
+        <div><span>Исходники</span><strong>{formatBytes(sourceBytes)}</strong></div>
+      </header>
+
+      {queueError ? (
+        <div className="simulation-catalog__notice" role="alert">
+          <Icon name="alert" size={18} />
+          <span>{queueError}</span>
+        </div>
+      ) : null}
+
+      {loading && projects.length === 0 ? (
+        <div className="simulation-catalog__state" role="status">
+          <ActivityIndicator label="Загрузка каталога" />
+          <span>Читаем каталог сцен</span>
+        </div>
+      ) : loadError && projects.length === 0 ? (
+        <div className="simulation-catalog__state" role="alert">
+          <Icon name="alert" size={20} />
+          <div><strong>Каталог недоступен</strong><span>{loadError}</span></div>
+          <Button size="compact" onClick={onRetryLoad}>Повторить</Button>
+        </div>
+      ) : projects.length === 0 ? (
+        <div className="simulation-catalog__empty">
+          <span><Icon name="globe" size={20} /></span>
+          <strong>Перетащите архивы в это окно</strong>
+          <p>Каждый ZIP, RAR или 7z сразу станет отдельным проектом и встанет в очередь.</p>
+          <Button variant="primary" icon={<Icon name="plus" size={16} />} onClick={onCreate}>
+            Новый проект
+          </Button>
+        </div>
+      ) : (
+        <div className="simulation-catalog__table-wrap">
+          <table className="simulation-catalog__table">
+            <thead>
+              <tr>
+                <th>Проект</th>
+                <th>Источник</th>
+                <th>Размер</th>
+                <th>Сплаты</th>
+                <th>Статус</th>
+                <th>Обновлён</th>
+                <th aria-label="Действия" />
+              </tr>
+            </thead>
+            <tbody>
+              {projects.map((project) => (
+                <SimulationCatalogRow
+                  key={project.projectId}
+                  project={project}
+                  uploadProgress={uploadProgress.get(project.projectId)}
+                  onSelect={() => onSelect(project)}
+                  onEdit={() => onEdit(project)}
+                  onDelete={() => onDelete(project)}
+                />
+              ))}
+            </tbody>
+          </table>
+        </div>
+      )}
+
+      {dropping ? (
+        <div className="simulation-catalog__drop-overlay" role="status">
+          <span className="simulation-catalog__drop-mark"><Icon name="plus" size={28} /></span>
+          <strong>Отпустите архивы</strong>
+          <span>ZIP · RAR · 7z · до 16 ГБ на проект</span>
+          <small>Внутри — сцена LCC или LCC2 и связанные файлы</small>
+        </div>
+      ) : null}
+    </section>
+  );
+}
+
+function SimulationCatalogRow({
+  project,
+  uploadProgress,
+  onSelect,
+  onEdit,
+  onDelete,
+}: {
+  project: SimulationProject;
+  uploadProgress?: SimulationUploadProgress;
+  onSelect: () => void;
+  onEdit: () => void;
+  onDelete: () => void;
+}) {
+  const status = statusPresentation(project.status);
+  const active = ACTIVE_STATUSES.has(project.status);
+  return (
+    <tr data-status={project.status}>
+      <td>
+        <button type="button" onClick={onSelect}>
+          <span className="simulation-catalog__project-icon"><Icon name="globe" size={18} /></span>
+          <span>
+            <strong>{project.name}</strong>
+            <small>{sourceFileLabel(project)}</small>
+          </span>
+        </button>
+      </td>
+      {active ? (
+        <td colSpan={3}>
+          <ProjectProgress project={project} localProgress={uploadProgress} />
+        </td>
+      ) : (
+        <>
+          <td>
+            {project.source.kind === "archive" ? "Архив" : "Папка"}
+            <small>{project.source.files.length} файл(ов)</small>
+          </td>
+          <td>{formatBytes(project.source.totalByteLength)}</td>
+          <td>—</td>
+        </>
+      )}
+      <td><StatusBadge tone={status.tone}>{status.label}</StatusBadge></td>
+      <td>{formatDate(project.updatedAtUtc)}</td>
+      <td>
+        <div className="simulation-catalog__actions">
+          <IconButton label={`Удалить ${project.name}`} onClick={onDelete}>
+            <Icon name="trash" size={16} />
+          </IconButton>
+          <IconButton label={`Редактировать ${project.name}`} onClick={onEdit}>
+            <Icon name="edit" size={16} />
+          </IconButton>
+        </div>
+      </td>
+    </tr>
+  );
+}
+
+function ProjectProgress({
+  project,
+  localProgress,
+}: {
+  project: SimulationProject;
+  localProgress?: SimulationUploadProgress;
+}) {
+  const progress = progressPresentation(project, localProgress);
+  return (
+    <div
+      className="simulation-catalog__progress"
+      data-indeterminate={progress.indeterminate ? "true" : undefined}
+      role="progressbar"
+      aria-label={progress.label}
+      aria-valuemin={0}
+      aria-valuemax={100}
+      aria-valuenow={progress.indeterminate ? undefined : progress.percent}
+    >
+      {progress.meta ? <small className="simulation-catalog__progress-meta">{progress.meta}</small> : null}
+      <span className="simulation-catalog__progress-track">
+        <i style={{ width: `${progress.percent}%` }} />
+      </span>
+      <small className="simulation-catalog__progress-stage">{progress.label}</small>
+    </div>
+  );
+}
+
+function progressPresentation(
+  project: SimulationProject,
+  local?: SimulationUploadProgress,
+): { percent: number; label: string; meta: string | null; indeterminate: boolean } {
+  if (project.status === "uploading") {
+    const uploaded = local?.uploadedBytes ?? project.source.uploadedByteLength;
+    const total = local?.totalBytes ?? project.source.totalByteLength;
+    const percent = total ? Math.min(100, uploaded / total * 100) : 0;
+    return {
+      percent,
+      label: `${formatBytes(uploaded)} / ${formatBytes(total)}`,
+      meta: progressMeta(percent, local?.estimatedSecondsRemaining),
+      indeterminate: false,
+    };
+  }
+  if (project.status === "queued") {
+    return { percent: 0, label: "Ожидает обработки", meta: null, indeterminate: true };
+  }
+  const estimate = estimateSimulationProcessing(project);
+  if (estimate) {
+    return {
+      percent: estimate.percent,
+      label: processingLabel(project),
+      meta: progressMeta(estimate.percent, estimate.estimatedSecondsRemaining),
+      indeterminate: false,
+    };
+  }
+  const completed = project.provider.progress?.completed_steps;
+  const total = project.provider.progress?.total_steps;
+  if (typeof completed === "number" && typeof total === "number" && total > 0) {
+    const percent = Math.min(100, completed / total * 100);
+    return {
+      percent,
+      label: processingLabel(project),
+      meta: progressMeta(percent, null),
+      indeterminate: false,
+    };
+  }
+  return {
+    percent: project.status === "importing" ? 96 : 0,
+    label: processingLabel(project),
+    meta: project.status === "importing" ? progressMeta(96, null) : null,
+    indeterminate: project.status !== "importing",
+  };
+}
+
+function progressMeta(percent: number, seconds: number | null | undefined): string {
+  const roundedPercent = Math.min(100, Math.max(0, Math.floor(percent)));
+  return `Прогресс ${roundedPercent}% | ${remainingTimeLabel(seconds)}`;
+}
+
+function remainingTimeLabel(seconds: number | null | undefined): string {
+  if (seconds === null || seconds === undefined) return "Время уточняется";
+  if (seconds <= 60) return "Осталось меньше минуты";
+  const minutes = Math.ceil(seconds / 60);
+  if (minutes < 60) return `Осталось примерно ${minutes} мин`;
+  const hours = Math.floor(minutes / 60);
+  const remainder = minutes % 60;
+  return `Осталось примерно ${hours} ч${remainder ? ` ${remainder} мин` : ""}`;
+}
+
+function processingLabel(project: SimulationProject): string {
+  if (project.status === "importing") return "Подготавливаем сцену";
+  const stage = project.provider.state;
+  if (stage === "verifying_source") return "Проверяем исходник";
+  if (stage === "inspecting") return "Анализируем локацию";
+  if (stage === "building_preview") return "Подготавливаем локацию";
+  if (stage === "building_streamed_sog") return "Собираем уровни детализации";
+  if (stage === "building_collision") return "Собираем коллизии";
+  return "Обрабатываем локацию";
+}
+
+function statusPresentation(status: SimulationProjectStatus): {
+  label: string;
+  tone: "success" | "accent" | "warning" | "neutral";
+} {
+  if (status === "ready") return { label: "Визуал готов", tone: "success" };
+  if (status === "failed") return { label: "Ошибка", tone: "warning" };
+  if (status === "uploading") return { label: "Загрузка", tone: "neutral" };
+  if (status === "queued") return { label: "В очереди", tone: "neutral" };
+  if (status === "importing") return { label: "Подготовка", tone: "accent" };
+  return { label: "Обработка", tone: "accent" };
+}
+
+function sourceFileLabel(project: SimulationProject): string {
+  const first = project.source.files[0]?.logicalPath;
+  if (project.source.kind === "archive" && first) return first;
+  return `${sceneTypeLabel(project.sceneType)} · ${project.source.files.length} файл(ов)`;
+}
+
+function sceneTypeLabel(value: SimulationProject["sceneType"]): string {
+  if (value === "interior") return "Интерьер";
+  if (value === "object") return "Объект";
+  return "Улица";
+}
+
+function countStatus(projects: SimulationProject[], status: SimulationProjectStatus): number {
+  return projects.filter((project) => project.status === status).length;
+}
+
+function formatDate(value: string): string {
+  const date = new Date(value);
+  return Number.isNaN(date.valueOf()) ? "—" : date.toLocaleString("ru-RU", {
+    day: "2-digit",
+    month: "short",
+    hour: "2-digit",
+    minute: "2-digit",
+  });
+}
+
+function formatBytes(value: number): string {
+  if (value < 1024) return `${value} Б`;
+  if (value < 1024 ** 2) return `${(value / 1024).toLocaleString("ru-RU", { maximumFractionDigits: 1 })} КБ`;
+  if (value < 1024 ** 3) return `${(value / 1024 ** 2).toLocaleString("ru-RU", { maximumFractionDigits: 1 })} МБ`;
+  return `${(value / 1024 ** 3).toLocaleString("ru-RU", { maximumFractionDigits: 2 })} ГБ`;
+}

apps/control-station/src/components/simulation/SimulationProjectWindow.tsx

@@ -18,6 +18,10 @@ import {
   type SimulationUploadCandidate,
   type SimulationUploadProgress,
 } from "../../core/simulation/projects";
+import {
+  candidatesFromDrop,
+  validateSimulationCandidates,
+} from "../../core/simulation/sourceFiles";
 
 export function SimulationProjectWindow({
   open,
@@ -55,7 +59,7 @@ export function SimulationProjectWindow({
 
   const acceptCandidates = (next: SimulationUploadCandidate[]) => {
     try {
-      validateCandidates(next);
+      validateSimulationCandidates(next);
       setCandidates(next);
       setError(null);
       if (!name.trim() && next.length) {
@@ -213,7 +217,10 @@ export function SimulationProjectWindow({
           <div className="simulation-upload-progress" role="status">
             <span><i style={{ width: `${Math.min(100, progress.totalBytes ? progress.uploadedBytes / progress.totalBytes * 100 : 0)}%` }} /></span>
             <div>
-              <strong>{formatBytes(progress.uploadedBytes)} / {formatBytes(progress.totalBytes)}</strong>
+              <strong>
+                {formatBytes(progress.uploadedBytes)} / {formatBytes(progress.totalBytes)}
+                {" · "}{formatUploadEta(progress.estimatedSecondsRemaining)}
+              </strong>
               <small>{progress.currentPath}</small>
             </div>
           </div>
@@ -224,83 +231,15 @@ export function SimulationProjectWindow({
   );
 }
 
-interface LegacyFileEntry {
-  isFile: boolean;
-  isDirectory: boolean;
-  name: string;
-  fullPath: string;
-  file?: (callback: (file: File) => void, error?: (error: DOMException) => void) => void;
-  createReader?: () => {
-    readEntries: (
-      callback: (entries: LegacyFileEntry[]) => void,
-      error?: (error: DOMException) => void,
-    ) => void;
-  };
-}
-
-async function candidatesFromDrop(transfer: DataTransfer): Promise<SimulationUploadCandidate[]> {
-  const candidates: SimulationUploadCandidate[] = [];
-  for (const item of Array.from(transfer.items)) {
-    const entry = (item as DataTransferItem & {
-      webkitGetAsEntry?: () => LegacyFileEntry | null;
-    }).webkitGetAsEntry?.();
-    if (entry) {
-      await collectEntry(entry, candidates);
-      continue;
-    }
-    const file = item.getAsFile();
-    if (file) candidates.push({ file, logicalPath: file.name });
-  }
-  if (!candidates.length) {
-    for (const file of Array.from(transfer.files)) {
-      candidates.push({ file, logicalPath: file.name });
-    }
-  }
-  return candidates;
-}
-
-async function collectEntry(entry: LegacyFileEntry, target: SimulationUploadCandidate[]): Promise<void> {
-  if (entry.isFile && entry.file) {
-    const file = await new Promise<File>((resolve, reject) => entry.file?.(resolve, reject));
-    target.push({ file, logicalPath: entry.fullPath.replace(/^\//, "") || file.name });
-    return;
-  }
-  if (!entry.isDirectory || !entry.createReader) return;
-  const reader = entry.createReader();
-  while (true) {
-    const batch = await new Promise<LegacyFileEntry[]>((resolve, reject) => reader.readEntries(resolve, reject));
-    if (!batch.length) break;
-    for (const child of batch) await collectEntry(child, target);
-  }
-}
-
-function validateCandidates(candidates: SimulationUploadCandidate[]): void {
-  if (!candidates.length) throw new Error("Выберите архив или папку с результатом LCC/LCC2.");
-  const archives = candidates.filter((candidate) => /\.(zip|rar|7z)$/i.test(candidate.logicalPath));
-  if (archives.length) {
-    if (candidates.length !== 1) throw new Error("Архив нужно загружать одним файлом.");
-    return;
-  }
-  const descriptors = candidates.filter((candidate) => /\.lcc2?$/i.test(candidate.logicalPath));
-  if (descriptors.length !== 1) {
-    throw new Error("В папке должна быть ровно одна сцена .lcc или .lcc2.");
-  }
-  const paths = new Set<string>();
-  for (const candidate of candidates) {
-    const parts = candidate.logicalPath.split("/");
-    if (
-      !candidate.logicalPath ||
-      candidate.logicalPath.startsWith("/") ||
-      candidate.logicalPath.includes("\\") ||
-      candidate.logicalPath.includes("\0") ||
-      parts.some((part) => part === "" || part === "." || part === "..")
-    ) {
-      throw new Error("Папка содержит небезопасный путь.");
-    }
-    if (candidate.file.size <= 0) throw new Error(`Пустой файл: ${candidate.logicalPath}`);
-    if (paths.has(candidate.logicalPath)) throw new Error(`Повторяющийся путь: ${candidate.logicalPath}`);
-    paths.add(candidate.logicalPath);
-  }
+function formatUploadEta(seconds: number | null): string {
+  if (seconds === 0) return "загружено";
+  if (seconds === null) return "считаем время";
+  if (seconds < 60) return `осталось ≈ ${Math.max(1, seconds)} сек`;
+  const minutes = Math.ceil(seconds / 60);
+  if (minutes < 60) return `осталось ≈ ${minutes} мин`;
+  const hours = Math.floor(minutes / 60);
+  const remainder = minutes % 60;
+  return `осталось ≈ ${hours} ч${remainder ? ` ${remainder} мин` : ""}`;
 }
 
 function summarizeCandidates(candidates: SimulationUploadCandidate[]): { title: string; detail: string } {

apps/control-station/src/components/simulation/SimulationUgvController.ts

@@ -0,0 +1,999 @@
+import {
+  Application,
+  Color,
+  Entity,
+  Mat4,
+  Mesh,
+  PRIMITIVE_TRIANGLES,
+  Quat,
+  StandardMaterial,
+  Vec3,
+  WasmModule,
+  type ModelComponent,
+} from "playcanvas";
+import { MeshoptSimplifier } from "meshoptimizer/simplifier";
+import type { SimulationUgvPreset } from "../../core/simulation/projects";
+
+const AMMO_MODULE_ROOT = "/vendor/playcanvas/ammo/2026-08-25";
+const UGV_SPAWN_POSITION = new Vec3(0, 1.15, 0);
+const UGV_SPAWN_ROTATION = new Vec3(0, 0, 0);
+const ZERO = new Vec3(0, 0, 0);
+const DISABLE_DEACTIVATION = 4;
+const PHYSICS_PROXY_RATIO = 0.04;
+const PHYSICS_PROXY_ERROR = 0.0003;
+const PHYSICS_PROXY_MAX_TRIANGLES = 240_000;
+const SERVICE_BRAKE_DECELERATION_MPS2 = 1.8;
+const COAST_DECELERATION_MPS2 = 0.18;
+const BRAKE_ATTITUDE_DAMPING = 6;
+const DEFAULT_ORBIT_PITCH = 0.48;
+const CAMERA_RETURN_DELAY_SECONDS = 1.2;
+const CAMERA_RETURN_DURATION_SECONDS = 2;
+const UGV_SPAWN_OFFSETS: ReadonlyArray<readonly [number, number]> = [
+  [0, 0],
+  [1.5, 0],
+  [-1.5, 0],
+  [0, 1.5],
+  [0, -1.5],
+  [1.5, 1.5],
+  [-1.5, 1.5],
+  [1.5, -1.5],
+  [-1.5, -1.5],
+  [3, 0],
+  [-3, 0],
+  [0, 3],
+  [0, -3],
+];
+
+export const DEFAULT_SIMULATION_UGV_PRESET: SimulationUgvPreset = {
+  presetName: "UGV 100 кг",
+  massKg: 100,
+  dimensionsMeters: {
+    length: 1,
+    width: 0.8,
+    height: 0.4,
+    groundClearance: 0.15,
+  },
+  maxSpeedMetersPerSecond: 1.2,
+  maxTurnRateDegrees: 45,
+  invertSteering: false,
+};
+
+type NativeObject = object;
+
+interface NativeVector3 extends NativeObject {
+  x(): number;
+  y(): number;
+  z(): number;
+  setValue(x: number, y: number, z: number): void;
+}
+
+interface NativeQuaternion extends NativeObject {
+  x(): number;
+  y(): number;
+  z(): number;
+  w(): number;
+}
+
+interface NativeTransform extends NativeObject {
+  getOrigin(): NativeVector3;
+  getRotation(): NativeQuaternion;
+}
+
+interface NativeWheelInfo extends NativeObject {
+  set_m_suspensionStiffness(value: number): void;
+  set_m_wheelsDampingRelaxation(value: number): void;
+  set_m_wheelsDampingCompression(value: number): void;
+  set_m_frictionSlip(value: number): void;
+  set_m_rollInfluence(value: number): void;
+}
+
+interface NativeRaycastVehicle extends NativeObject {
+  setCoordinateSystem(right: number, up: number, forward: number): void;
+  addWheel(
+    connectionPoint: NativeVector3,
+    direction: NativeVector3,
+    axle: NativeVector3,
+    suspensionRestLength: number,
+    radius: number,
+    tuning: NativeObject,
+    isFront: boolean,
+  ): NativeWheelInfo;
+  applyEngineForce(force: number, wheel: number): void;
+  setBrake(force: number, wheel: number): void;
+  setSteeringValue(value: number, wheel: number): void;
+  getNumWheels(): number;
+  updateWheelTransform(wheel: number, interpolated: boolean): void;
+  getWheelTransformWS(wheel: number): NativeTransform;
+  getForwardVector(): NativeVector3;
+  getCurrentSpeedKmHour(): number;
+  resetSuspension(): void;
+}
+
+export interface AmmoApi {
+  btVehicleTuning: new () => NativeObject;
+  btDefaultVehicleRaycaster: new (world: NativeObject) => NativeObject;
+  btRaycastVehicle: new (
+    tuning: NativeObject,
+    body: NativeObject,
+    raycaster: NativeObject,
+  ) => NativeRaycastVehicle;
+  btVector3: new (x: number, y: number, z: number) => NativeVector3;
+  destroy(object: NativeObject): void;
+}
+
+interface NativeDynamicsWorld extends NativeObject {
+  addAction(action: NativeObject): void;
+  removeAction(action: NativeObject): void;
+}
+
+interface PhysicsSystemAccess {
+  systems: {
+    rigidbody: {
+      dynamicsWorld: NativeDynamicsWorld | null;
+      raycastFirst(start: Vec3, end: Vec3): { point: Vec3; normal: Vec3 } | null;
+    };
+  };
+}
+
+interface NativeRigidBodyAccess {
+  rigidbody?: {
+    body: NativeObject | null;
+    linearVelocity: Vec3;
+    angularVelocity: Vec3;
+    teleport(position: Vec3, rotation?: Vec3 | Quat): void;
+  };
+}
+
+interface WheelDefinition {
+  connection: Vec3;
+  left: boolean;
+  front: boolean;
+  anchor: Entity;
+}
+
+let ammoInstancePromise: Promise<AmmoApi> | null = null;
+
+export function prepareSimulationPhysics(): Promise<AmmoApi> {
+  if (ammoInstancePromise) return ammoInstancePromise;
+
+  ammoInstancePromise = new Promise<AmmoApi>((resolve, reject) => {
+    if (!WasmModule.getConfig("Ammo")) {
+      WasmModule.setConfig("Ammo", {
+        glueUrl: `${AMMO_MODULE_ROOT}/ammo.wasm.js`,
+        wasmUrl: `${AMMO_MODULE_ROOT}/ammo.wasm.wasm`,
+        errorHandler: (error) => {
+          ammoInstancePromise = null;
+          reject(new Error(`Физический модуль UGV не загрузился: ${String(error)}`));
+        },
+      });
+    }
+    WasmModule.getInstance("Ammo", (instance) => {
+      if (!instance) {
+        ammoInstancePromise = null;
+        reject(new Error("Физический модуль UGV вернул пустой экземпляр."));
+        return;
+      }
+      resolve(instance as AmmoApi);
+    });
+  });
+
+  return ammoInstancePromise;
+}
+
+export class SimulationUgvController {
+  private readonly pressed = new Set<string>();
+  private readonly collisionBodies: Entity[] = [];
+  private readonly collisionMeshes: Mesh[] = [];
+  private readonly wheelDefinitions: WheelDefinition[] = [];
+  private readonly cameraTarget = new Vec3();
+  private readonly cameraDesired = new Vec3();
+  private readonly cameraLookAt = new Vec3();
+  private readonly forward = new Vec3(0, 0, 1);
+  private readonly smoothedCamera = new Vec3();
+  private readonly limitedLinearVelocity = new Vec3();
+  private readonly limitedAngularVelocity = new Vec3();
+  private readonly spawnPosition = UGV_SPAWN_POSITION.clone();
+  private orbitPointerId: number | null = null;
+  private orbitPointerX = 0;
+  private orbitPointerY = 0;
+  private orbitYaw = 0;
+  private orbitPitch = DEFAULT_ORBIT_PITCH;
+  private orbitDistance = 3.8;
+  private orbitIdleSeconds = 0;
+  private cameraOrbitInitialized = false;
+  private active = false;
+  private vehicleEntity: Entity | null = null;
+  private vehicle: NativeRaycastVehicle | null = null;
+  private vehicleTuning: NativeObject | null = null;
+  private vehicleRaycaster: NativeObject | null = null;
+  private dynamicsWorld: NativeDynamicsWorld | null = null;
+  private chassisMaterial: StandardMaterial | null = null;
+  private wheelMaterial: StandardMaterial | null = null;
+  private cameraInitialized = false;
+  private settings: SimulationUgvPreset;
+
+  constructor(
+    private readonly app: Application,
+    private readonly canvas: HTMLCanvasElement,
+    private readonly camera: Entity,
+    private readonly ammo: AmmoApi,
+    initialSettings: SimulationUgvPreset = DEFAULT_SIMULATION_UGV_PRESET,
+  ) {
+    this.settings = cloneUgvPreset(initialSettings);
+  }
+
+  get enabled(): boolean {
+    return this.active;
+  }
+
+  configure(settings: SimulationUgvPreset): void {
+    const next = cloneUgvPreset(settings);
+    const rebuildRequired = this.active && vehicleGeometryChanged(this.settings, next);
+    this.settings = next;
+    if (!rebuildRequired) return;
+    this.destroyVehicle();
+    this.spawnPosition.copy(this.findSafeSpawnPosition());
+    this.createVehicle();
+    this.reset(false, false);
+  }
+
+  async enable(collisionWorld: Entity): Promise<void> {
+    if (this.active) return;
+    await nextAnimationFrame();
+    try {
+      await this.createStaticCollisionBodies(collisionWorld);
+      await nextAnimationFrame();
+      this.spawnPosition.copy(this.findSafeSpawnPosition());
+      this.createVehicle();
+      this.attachInput();
+      this.active = true;
+      this.reset();
+    } catch (error) {
+      this.disable();
+      throw error;
+    }
+  }
+
+  disable(): void {
+    this.active = false;
+    this.detachInput();
+    this.pressed.clear();
+
+    this.destroyVehicle();
+
+    for (const entity of this.collisionBodies.splice(0)) {
+      runCleanup("destroy static physics proxy", () => entity.destroy());
+    }
+    for (const mesh of this.collisionMeshes.splice(0)) {
+      runCleanup("destroy static physics mesh", () => mesh.destroy());
+    }
+    this.cameraInitialized = false;
+    this.cameraOrbitInitialized = false;
+    this.orbitIdleSeconds = 0;
+  }
+
+  dispose(): void {
+    this.disable();
+  }
+
+  reset(focusCanvas = true, resetCameraOrbit = true): void {
+    const vehicleEntity = this.vehicleEntity as (Entity & NativeRigidBodyAccess) | null;
+    const rigidbody = vehicleEntity?.rigidbody;
+    if (!vehicleEntity || !rigidbody) return;
+    rigidbody.teleport(this.spawnPosition, UGV_SPAWN_ROTATION);
+    rigidbody.linearVelocity = ZERO;
+    rigidbody.angularVelocity = ZERO;
+    this.vehicle?.resetSuspension();
+    this.cameraInitialized = false;
+    if (resetCameraOrbit) {
+      this.cameraOrbitInitialized = false;
+      this.orbitIdleSeconds = 0;
+    }
+    this.updateCamera(1);
+    if (focusCanvas) this.canvas.focus({ preventScroll: true });
+  }
+
+  syncCollisionBodies(): void {
+    for (const entity of this.collisionBodies) {
+      const rigidbody = (entity as Entity & NativeRigidBodyAccess).rigidbody;
+      rigidbody?.teleport(entity.getPosition(), entity.getRotation());
+    }
+  }
+
+  update(deltaSeconds: number): void {
+    if (!this.active || !this.vehicle || !this.vehicleEntity) return;
+    const forwardInput = Number(this.isPressed("KeyW", "ArrowUp")) - Number(this.isPressed("KeyS", "ArrowDown"));
+    const requestedTurn = Number(this.isPressed("KeyA", "ArrowLeft")) - Number(this.isPressed("KeyD", "ArrowRight"));
+    const turnInput = this.settings.invertSteering ? -requestedTurn : requestedTurn;
+    const braking = this.pressed.has("Space");
+    const rigidbody = (this.vehicleEntity as Entity & NativeRigidBodyAccess).rigidbody;
+    const speedMetersPerSecond = this.vehicle.getCurrentSpeedKmHour() / 3.6;
+    const maxSpeed = this.settings.maxSpeedMetersPerSecond;
+    const maxTurnRate = this.settings.maxTurnRateDegrees * Math.PI / 180;
+    const pureTurn = !braking && forwardInput === 0 && turnInput !== 0;
+    const desiredSpeed = forwardInput * maxSpeed;
+    const speedError = desiredSpeed - speedMetersPerSecond;
+    const speedResponseRange = Math.max(0.35, maxSpeed * 0.2);
+    const throttle = forwardInput === 0
+      ? 0
+      : clamp(Math.abs(speedError) / speedResponseRange, 0, 1);
+    const maximumAcceleration = clamp(1.4 + maxSpeed * 0.35, 1.8, 4.2);
+    const driveForcePerWheel = this.settings.massKg * maximumAcceleration * throttle / 4;
+    const pivotForcePerWheel = this.settings.massKg * 0.65;
+    const forwardCommand = braking ? 0 : forwardInput;
+    const turnCommand = braking ? 0 : turnInput;
+    const leftCommand = clamp(forwardCommand - turnCommand, -1, 1);
+    const rightCommand = clamp(forwardCommand + turnCommand, -1, 1);
+    const engineForce = pureTurn ? pivotForcePerWheel : driveForcePerWheel;
+
+    for (let index = 0; index < this.wheelDefinitions.length; index += 1) {
+      const definition = this.wheelDefinitions[index];
+      const command = definition.left ? leftCommand : rightCommand;
+      this.vehicle.setSteeringValue(0, index);
+      this.vehicle.applyEngineForce(command * engineForce, index);
+      this.vehicle.setBrake(0, index);
+      this.vehicle.updateWheelTransform(index, true);
+      const transform = this.vehicle.getWheelTransformWS(index);
+      const position = transform.getOrigin();
+      const rotation = transform.getRotation();
+      definition.anchor.setPosition(position.x(), position.y(), position.z());
+      definition.anchor.setRotation(rotation.x(), rotation.y(), rotation.z(), rotation.w());
+    }
+
+    if (rigidbody) {
+      const linearVelocity = rigidbody.linearVelocity;
+      let nextLinearX = linearVelocity.x;
+      let nextLinearZ = linearVelocity.z;
+      let horizontalSpeed = Math.hypot(nextLinearX, nextLinearZ);
+      const coasting = !braking && forwardInput === 0 && turnInput === 0;
+      if ((braking || coasting) && horizontalSpeed > 0.001) {
+        const deceleration = braking
+          ? SERVICE_BRAKE_DECELERATION_MPS2
+          : COAST_DECELERATION_MPS2;
+        const nextSpeed = Math.max(0, horizontalSpeed - deceleration * Math.max(0, deltaSeconds));
+        const scale = nextSpeed / horizontalSpeed;
+        nextLinearX *= scale;
+        nextLinearZ *= scale;
+        horizontalSpeed = nextSpeed;
+      }
+      if (pureTurn && horizontalSpeed > 0.001) {
+        const pivotDamping = Math.exp(-Math.max(0, deltaSeconds) * 8);
+        nextLinearX *= pivotDamping;
+        nextLinearZ *= pivotDamping;
+        horizontalSpeed *= pivotDamping;
+      }
+      if (horizontalSpeed > maxSpeed * 1.05) {
+        const scale = maxSpeed / horizontalSpeed;
+        nextLinearX *= scale;
+        nextLinearZ *= scale;
+      }
+      if (nextLinearX !== linearVelocity.x || nextLinearZ !== linearVelocity.z) {
+        this.limitedLinearVelocity.set(nextLinearX, linearVelocity.y, nextLinearZ);
+        rigidbody.linearVelocity = this.limitedLinearVelocity;
+      }
+      const angularVelocity = rigidbody.angularVelocity;
+      const attitudeDamping = braking
+        ? Math.exp(-Math.max(0, deltaSeconds) * BRAKE_ATTITUDE_DAMPING)
+        : 1;
+      let nextAngularY = angularVelocity.y;
+      if (pureTurn) {
+        const desiredYawRate = -turnInput * maxTurnRate;
+        const turnAcceleration = Math.max(2, maxTurnRate * 4);
+        nextAngularY = approach(
+          angularVelocity.y,
+          desiredYawRate,
+          turnAcceleration * Math.max(0, deltaSeconds),
+        );
+      } else if (Math.abs(angularVelocity.y) > maxTurnRate) {
+        nextAngularY = Math.sign(angularVelocity.y) * maxTurnRate;
+      }
+      if (attitudeDamping !== 1 || nextAngularY !== angularVelocity.y) {
+        this.limitedAngularVelocity.set(
+          angularVelocity.x * attitudeDamping,
+          nextAngularY,
+          angularVelocity.z * attitudeDamping,
+        );
+        rigidbody.angularVelocity = this.limitedAngularVelocity;
+      }
+    }
+
+    const body = (this.vehicleEntity as Entity & NativeRigidBodyAccess).rigidbody?.body as {
+      setActivationState?: (state: number) => void;
+    } | null;
+    body?.setActivationState?.(DISABLE_DEACTIVATION);
+    if (this.vehicleEntity.getPosition().y < -8) this.reset();
+    this.updateCamera(deltaSeconds);
+  }
+
+  private async createStaticCollisionBodies(collisionWorld: Entity): Promise<void> {
+    const models = collisionWorld.findComponents("model") as ModelComponent[];
+    if (models.length === 0) throw new Error("В слое коллизий нет геометрии для физики UGV.");
+
+    const meshInstances = models.flatMap((model) => Array.from(model.meshInstances ?? []));
+    const totalTriangles = meshInstances.reduce(
+      (total, meshInstance) => total + Math.floor((meshInstance.mesh.primitive[0]?.count ?? 0) / 3),
+      0,
+    );
+    if (totalTriangles === 0) throw new Error("В слое коллизий нет треугольников для физики UGV.");
+    const targetRatio = totalTriangles <= PHYSICS_PROXY_MAX_TRIANGLES
+      ? 1
+      : Math.min(PHYSICS_PROXY_RATIO, PHYSICS_PROXY_MAX_TRIANGLES / totalTriangles);
+    await MeshoptSimplifier.ready;
+    await nextAnimationFrame();
+
+    const rootInverse = collisionWorld.getWorldTransform().clone().invert();
+    for (let index = 0; index < meshInstances.length; index += 1) {
+      const meshInstance = meshInstances[index];
+      const physicsMesh = createPhysicsProxyMesh(
+        this.app,
+        meshInstance.mesh,
+        new Mat4().mul2(rootInverse, meshInstance.node.getWorldTransform()),
+        targetRatio,
+      );
+      if (!physicsMesh) continue;
+      const entity = new Entity(`UGV physics proxy ${index + 1}`);
+      collisionWorld.addChild(entity);
+      entity.addComponent("collision", {
+        type: "mesh",
+        render: { meshes: [physicsMesh] },
+        checkVertexDuplicates: false,
+      });
+      entity.addComponent("rigidbody", {
+        type: "static",
+        friction: 0.95,
+        restitution: 0,
+      });
+      this.collisionBodies.push(entity);
+      this.collisionMeshes.push(physicsMesh);
+      if ((index + 1) % 4 === 0) await nextAnimationFrame();
+    }
+
+    if (this.collisionBodies.length === 0) {
+      throw new Error("Не удалось создать статический физический слой UGV.");
+    }
+  }
+
+  private createVehicle(): void {
+    const access = this.app as unknown as PhysicsSystemAccess;
+    const dynamicsWorld = access.systems.rigidbody.dynamicsWorld;
+    if (!dynamicsWorld) throw new Error("Физический мир PlayCanvas не готов.");
+
+    const vehicle = new Entity("SimulationUGV");
+    vehicle.addComponent("collision", { type: "compound" });
+    vehicle.addComponent("rigidbody", {
+      type: "dynamic",
+      mass: this.settings.massKg,
+      friction: 0.85,
+      linearDamping: 0.08,
+      angularDamping: 0.45,
+    });
+
+    this.chassisMaterial = createMaterial(readThemeAccent(), new Color(0.03, 0.04, 0.05));
+    this.wheelMaterial = createMaterial(new Color(0.055, 0.06, 0.07), new Color(0.008, 0.009, 0.01));
+
+    const dimensions = vehicleDimensions(this.settings);
+    const chassis = createBox(
+      "UGV chassis",
+      new Vec3(dimensions.bodyWidth, dimensions.mainHeight, dimensions.length),
+      this.chassisMaterial,
+    );
+    chassis.setLocalPosition(0, dimensions.mainCenterY, 0);
+    chassis.addComponent("collision", {
+      type: "box",
+      halfExtents: new Vec3(
+        dimensions.bodyWidth / 2,
+        dimensions.mainHeight / 2,
+        dimensions.length / 2,
+      ),
+    });
+    vehicle.addChild(chassis);
+
+    const equipment = createBox(
+      "UGV equipment",
+      new Vec3(dimensions.bodyWidth * 0.68, dimensions.equipmentHeight, dimensions.length * 0.56),
+      this.chassisMaterial,
+    );
+    equipment.setLocalPosition(0, dimensions.equipmentCenterY, -dimensions.length * 0.04);
+    equipment.addComponent("collision", {
+      type: "box",
+      halfExtents: new Vec3(
+        dimensions.bodyWidth * 0.34,
+        dimensions.equipmentHeight / 2,
+        dimensions.length * 0.28,
+      ),
+    });
+    vehicle.addChild(equipment);
+
+    const wheelConnections = [
+      { connection: new Vec3(dimensions.wheelX, dimensions.wheelConnectionY, dimensions.wheelZ), left: false, front: true },
+      { connection: new Vec3(-dimensions.wheelX, dimensions.wheelConnectionY, dimensions.wheelZ), left: true, front: true },
+      { connection: new Vec3(dimensions.wheelX, dimensions.wheelConnectionY, -dimensions.wheelZ), left: false, front: false },
+      { connection: new Vec3(-dimensions.wheelX, dimensions.wheelConnectionY, -dimensions.wheelZ), left: true, front: false },
+    ];
+
+    for (const definition of wheelConnections) {
+      const anchor = new Entity(definition.left ? "UGV wheel left" : "UGV wheel right");
+      anchor.setLocalPosition(definition.connection);
+      const wheelMesh = new Entity("UGV wheel mesh");
+      wheelMesh.addComponent("render", { type: "cylinder", castShadows: false, receiveShadows: false });
+      wheelMesh.setLocalEulerAngles(0, 0, 90);
+      wheelMesh.setLocalScale(
+        dimensions.wheelRadius * 2,
+        dimensions.wheelThickness,
+        dimensions.wheelRadius * 2,
+      );
+      applyMaterial(wheelMesh, this.wheelMaterial);
+      anchor.addChild(wheelMesh);
+      vehicle.addChild(anchor);
+      this.wheelDefinitions.push({ ...definition, anchor });
+    }
+
+    vehicle.setLocalPosition(this.spawnPosition);
+    this.app.root.addChild(vehicle);
+
+    const body = (vehicle as Entity & NativeRigidBodyAccess).rigidbody?.body;
+    if (!body) {
+      vehicle.destroy();
+      throw new Error("Динамическое тело UGV не создалось.");
+    }
+
+    const tuning = new this.ammo.btVehicleTuning();
+    const raycaster = new this.ammo.btDefaultVehicleRaycaster(dynamicsWorld);
+    const nativeVehicle = new this.ammo.btRaycastVehicle(tuning, body, raycaster);
+    nativeVehicle.setCoordinateSystem(0, 1, 2);
+
+    const axle = new this.ammo.btVector3(-1, 0, 0);
+    const direction = new this.ammo.btVector3(0, -1, 0);
+    const connection = new this.ammo.btVector3(0, 0, 0);
+    for (const definition of this.wheelDefinitions) {
+      connection.setValue(definition.connection.x, definition.connection.y, definition.connection.z);
+      const wheel = nativeVehicle.addWheel(
+        connection,
+        direction,
+        axle,
+        dimensions.suspensionRestLength,
+        dimensions.wheelRadius,
+        tuning,
+        definition.front,
+      );
+      wheel.set_m_suspensionStiffness(24);
+      wheel.set_m_wheelsDampingRelaxation(3.2);
+      wheel.set_m_wheelsDampingCompression(4.8);
+      wheel.set_m_frictionSlip(5.5);
+      wheel.set_m_rollInfluence(0.08);
+    }
+    this.ammo.destroy(axle);
+    this.ammo.destroy(direction);
+    this.ammo.destroy(connection);
+
+    dynamicsWorld.addAction(nativeVehicle);
+    this.vehicleEntity = vehicle;
+    this.vehicleTuning = tuning;
+    this.vehicleRaycaster = raycaster;
+    this.vehicle = nativeVehicle;
+    this.dynamicsWorld = dynamicsWorld;
+  }
+
+  private updateCamera(deltaSeconds: number): void {
+    if (!this.vehicleEntity || !this.vehicle) return;
+    this.cameraTarget.copy(this.vehicleEntity.getPosition());
+    this.cameraLookAt.copy(this.cameraTarget);
+    this.cameraLookAt.y += Math.max(0.15, this.settings.dimensionsMeters.height * 0.35);
+
+    const nativeForward = this.vehicle.getForwardVector();
+    this.forward.set(nativeForward.x(), 0, nativeForward.z());
+    if (this.forward.lengthSq() < 0.001) this.forward.set(0, 0, 1);
+    this.forward.normalize();
+    const rearOrbitYaw = Math.atan2(-this.forward.x, -this.forward.z);
+    if (!this.cameraOrbitInitialized) {
+      this.orbitYaw = rearOrbitYaw;
+      this.orbitPitch = DEFAULT_ORBIT_PITCH;
+      this.orbitDistance = Math.max(3.2, this.settings.dimensionsMeters.length * 3.8);
+      this.cameraOrbitInitialized = true;
+      this.orbitIdleSeconds = 0;
+    } else if (this.orbitPointerId === null) {
+      this.orbitIdleSeconds += Math.max(0, deltaSeconds);
+      if (this.orbitIdleSeconds >= CAMERA_RETURN_DELAY_SECONDS) {
+        const returnDelta = Math.max(0, deltaSeconds) / CAMERA_RETURN_DURATION_SECONDS;
+        this.orbitYaw = approachAngle(this.orbitYaw, rearOrbitYaw, Math.PI * returnDelta);
+        this.orbitPitch = approach(
+          this.orbitPitch,
+          DEFAULT_ORBIT_PITCH,
+          Math.PI * 0.5 * returnDelta,
+        );
+      }
+    }
+
+    const horizontalDistance = Math.cos(this.orbitPitch) * this.orbitDistance;
+    this.cameraDesired.set(
+      this.cameraLookAt.x + Math.sin(this.orbitYaw) * horizontalDistance,
+      this.cameraLookAt.y + Math.sin(this.orbitPitch) * this.orbitDistance,
+      this.cameraLookAt.z + Math.cos(this.orbitYaw) * horizontalDistance,
+    );
+
+    if (!this.cameraInitialized) {
+      this.smoothedCamera.copy(this.cameraDesired);
+      this.cameraInitialized = true;
+    } else {
+      const blend = 1 - Math.exp(
+        -Math.max(0, deltaSeconds) * (this.orbitPointerId === null ? 8 : 18),
+      );
+      this.smoothedCamera.lerp(this.smoothedCamera, this.cameraDesired, blend);
+    }
+    this.camera.setPosition(this.smoothedCamera);
+    this.camera.lookAt(this.cameraLookAt);
+  }
+
+  private findSafeSpawnPosition(): Vec3 {
+    const dimensions = vehicleDimensions(this.settings);
+    const footprint: ReadonlyArray<readonly [number, number]> = [
+      [0, 0],
+      [dimensions.width * 0.42, dimensions.length * 0.42],
+      [-dimensions.width * 0.42, dimensions.length * 0.42],
+      [dimensions.width * 0.42, -dimensions.length * 0.42],
+      [-dimensions.width * 0.42, -dimensions.length * 0.42],
+    ];
+    const clearanceDirections: ReadonlyArray<readonly [number, number]> = [
+      [dimensions.width * 0.62, 0],
+      [-dimensions.width * 0.62, 0],
+      [0, dimensions.length * 0.62],
+      [0, -dimensions.length * 0.62],
+    ];
+    const from = new Vec3();
+    const to = new Vec3();
+    const physics = (this.app as unknown as PhysicsSystemAccess).systems.rigidbody;
+
+    for (const [offsetX, offsetZ] of UGV_SPAWN_OFFSETS) {
+      const heights: number[] = [];
+      let suitable = true;
+      for (const [sampleX, sampleZ] of footprint) {
+        const x = UGV_SPAWN_POSITION.x + offsetX + sampleX;
+        const z = UGV_SPAWN_POSITION.z + offsetZ + sampleZ;
+        from.set(x, 8, z);
+        to.set(x, -8, z);
+        const hit = physics.raycastFirst(from, to);
+        if (!hit || hit.normal.y < 0.72 || Math.abs(hit.point.y) > 2.5) {
+          suitable = false;
+          break;
+        }
+        heights.push(hit.point.y);
+      }
+      if (!suitable || heights.length !== footprint.length) continue;
+      const minimum = Math.min(...heights);
+      const maximum = Math.max(...heights);
+      if (maximum - minimum > 0.32) continue;
+
+      const x = UGV_SPAWN_POSITION.x + offsetX;
+      const z = UGV_SPAWN_POSITION.z + offsetZ;
+      const ground = heights.reduce((sum, height) => sum + height, 0) / heights.length;
+      const clearanceHeight = ground + dimensions.originHeight;
+      const origin = new Vec3(x, clearanceHeight, z);
+      const blocked = clearanceDirections.some(([directionX, directionZ]) => {
+        to.set(x + directionX, clearanceHeight, z + directionZ);
+        return physics.raycastFirst(origin, to) !== null;
+      });
+      if (!blocked) return new Vec3(x, ground + dimensions.originHeight, z);
+    }
+
+    return UGV_SPAWN_POSITION.clone();
+  }
+
+  private destroyVehicle(): void {
+    if (this.vehicle && this.dynamicsWorld) {
+      runCleanup("remove vehicle action", () => this.dynamicsWorld?.removeAction(this.vehicle as NativeObject));
+    }
+    if (this.vehicle) runCleanup("destroy vehicle", () => this.ammo.destroy(this.vehicle as NativeObject));
+    if (this.vehicleRaycaster) runCleanup("destroy vehicle raycaster", () => this.ammo.destroy(this.vehicleRaycaster as NativeObject));
+    if (this.vehicleTuning) runCleanup("destroy vehicle tuning", () => this.ammo.destroy(this.vehicleTuning as NativeObject));
+    this.vehicle = null;
+    this.vehicleRaycaster = null;
+    this.vehicleTuning = null;
+    this.dynamicsWorld = null;
+
+    if (this.vehicleEntity) runCleanup("destroy vehicle entity", () => this.vehicleEntity?.destroy());
+    this.vehicleEntity = null;
+    this.wheelDefinitions.length = 0;
+    if (this.chassisMaterial) runCleanup("destroy chassis material", () => this.chassisMaterial?.destroy());
+    if (this.wheelMaterial) runCleanup("destroy wheel material", () => this.wheelMaterial?.destroy());
+    this.chassisMaterial = null;
+    this.wheelMaterial = null;
+    this.cameraInitialized = false;
+  }
+
+  private isPressed(primary: string, alternative: string): boolean {
+    return this.pressed.has(primary) || this.pressed.has(alternative);
+  }
+
+  private attachInput(): void {
+    window.addEventListener("keydown", this.onKeyDown, true);
+    window.addEventListener("keyup", this.onKeyUp, true);
+    window.addEventListener("blur", this.onWindowBlur);
+    this.canvas.addEventListener("pointerdown", this.onOrbitPointerDown);
+    this.canvas.addEventListener("pointermove", this.onOrbitPointerMove);
+    this.canvas.addEventListener("pointerup", this.onOrbitPointerUp);
+    this.canvas.addEventListener("pointercancel", this.onOrbitPointerUp);
+    this.canvas.addEventListener("wheel", this.onOrbitWheel, { passive: false });
+  }
+
+  private detachInput(): void {
+    window.removeEventListener("keydown", this.onKeyDown, true);
+    window.removeEventListener("keyup", this.onKeyUp, true);
+    window.removeEventListener("blur", this.onWindowBlur);
+    this.canvas.removeEventListener("pointerdown", this.onOrbitPointerDown);
+    this.canvas.removeEventListener("pointermove", this.onOrbitPointerMove);
+    this.canvas.removeEventListener("pointerup", this.onOrbitPointerUp);
+    this.canvas.removeEventListener("pointercancel", this.onOrbitPointerUp);
+    this.canvas.removeEventListener("wheel", this.onOrbitWheel);
+    this.releaseOrbitPointer();
+  }
+
+  private onOrbitPointerDown = (event: PointerEvent): void => {
+    if (!this.active || event.button !== 0 || this.orbitPointerId !== null) return;
+    event.preventDefault();
+    this.orbitPointerId = event.pointerId;
+    this.orbitPointerX = event.clientX;
+    this.orbitPointerY = event.clientY;
+    this.orbitIdleSeconds = 0;
+    this.canvas.classList.add("is-orbiting");
+    try {
+      this.canvas.setPointerCapture(event.pointerId);
+    } catch {
+      // A browser may already have released the pointer during a window transition.
+    }
+  };
+
+  private onOrbitPointerMove = (event: PointerEvent): void => {
+    if (!this.active || event.pointerId !== this.orbitPointerId) return;
+    event.preventDefault();
+    const deltaX = event.clientX - this.orbitPointerX;
+    const deltaY = event.clientY - this.orbitPointerY;
+    this.orbitPointerX = event.clientX;
+    this.orbitPointerY = event.clientY;
+    this.orbitIdleSeconds = 0;
+    this.orbitYaw = (this.orbitYaw - deltaX * 0.006) % (Math.PI * 2);
+    this.orbitPitch = clamp(this.orbitPitch + deltaY * 0.0045, -0.12, 1.32);
+  };
+
+  private onOrbitPointerUp = (event: PointerEvent): void => {
+    if (event.pointerId !== this.orbitPointerId) return;
+    this.releaseOrbitPointer();
+  };
+
+  private onOrbitWheel = (event: WheelEvent): void => {
+    if (!this.active) return;
+    event.preventDefault();
+    this.orbitIdleSeconds = 0;
+    this.orbitDistance = clamp(
+      this.orbitDistance * Math.exp(event.deltaY * 0.0012),
+      1.6,
+      14,
+    );
+  };
+
+  private releaseOrbitPointer(): void {
+    const pointerId = this.orbitPointerId;
+    this.orbitPointerId = null;
+    this.canvas.classList.remove("is-orbiting");
+    if (pointerId === null || !this.canvas.hasPointerCapture(pointerId)) return;
+    try {
+      this.canvas.releasePointerCapture(pointerId);
+    } catch {
+      // Pointer capture is already gone; the local orbit state is still released.
+    }
+  }
+
+  private onKeyDown = (event: KeyboardEvent): void => {
+    if (!this.active || isTextEntry(event.target)) return;
+    if (!UGV_KEYS.has(event.code)) return;
+    event.preventDefault();
+    event.stopPropagation();
+    if (event.code === "KeyR") {
+      this.reset();
+      return;
+    }
+    this.pressed.add(event.code);
+  };
+
+  private onKeyUp = (event: KeyboardEvent): void => {
+    if (!this.active || !UGV_KEYS.has(event.code)) return;
+    event.preventDefault();
+    event.stopPropagation();
+    this.pressed.delete(event.code);
+  };
+
+  private onWindowBlur = (): void => {
+    this.pressed.clear();
+    this.releaseOrbitPointer();
+  };
+}
+
+const UGV_KEYS = new Set([
+  "KeyW",
+  "KeyA",
+  "KeyS",
+  "KeyD",
+  "ArrowUp",
+  "ArrowDown",
+  "ArrowLeft",
+  "ArrowRight",
+  "Space",
+  "KeyR",
+]);
+
+function createPhysicsProxyMesh(
+  app: Application,
+  source: Mesh,
+  localTransform: Mat4,
+  targetRatio: number,
+): Mesh | null {
+  const primitive = source.primitive[0];
+  const sourceVertexCount = source.vertexBuffer?.numVertices ?? 0;
+  if (!primitive || sourceVertexCount === 0 || primitive.count < 3) return null;
+
+  const positions = new Float32Array(sourceVertexCount * 3);
+  const populatedVertices = source.getPositions(positions);
+  if (populatedVertices === 0) return null;
+  const transformed = new Float32Array(populatedVertices * 3);
+  const point = new Vec3();
+  for (let vertex = 0; vertex < populatedVertices; vertex += 1) {
+    const offset = vertex * 3;
+    point.set(positions[offset], positions[offset + 1], positions[offset + 2]);
+    localTransform.transformPoint(point, point);
+    transformed[offset] = point.x;
+    transformed[offset + 1] = point.y;
+    transformed[offset + 2] = point.z;
+  }
+
+  const requestedIndexCount = Math.max(3, primitive.count);
+  let indices = new Uint32Array(requestedIndexCount);
+  const populatedIndices = source.getIndices(indices);
+  if (populatedIndices === 0) {
+    const fallbackCount = Math.min(populatedVertices, requestedIndexCount);
+    indices = new Uint32Array(fallbackCount);
+    for (let index = 0; index < fallbackCount; index += 1) indices[index] = index;
+  } else if (populatedIndices !== indices.length) {
+    indices = indices.slice(0, populatedIndices);
+  }
+  const triangleIndexCount = Math.floor(indices.length / 3) * 3;
+  if (triangleIndexCount < 3) return null;
+  if (triangleIndexCount !== indices.length) indices = indices.slice(0, triangleIndexCount);
+
+  if (targetRatio < 1) {
+    const targetIndexCount = Math.max(3, Math.floor(indices.length * targetRatio / 3) * 3);
+    const [simplifiedIndices] = MeshoptSimplifier.simplify(
+      indices,
+      transformed,
+      3,
+      targetIndexCount,
+      PHYSICS_PROXY_ERROR,
+    );
+    indices = new Uint32Array(simplifiedIndices);
+  }
+
+  const compactedIndices = new Uint32Array(indices);
+  const [remap, compactedVertexCount] = MeshoptSimplifier.compactMesh(compactedIndices);
+  const compactedPositions = new Float32Array(compactedVertexCount * 3);
+  const missing = 0xffff_ffff;
+  for (let sourceVertex = 0; sourceVertex < remap.length; sourceVertex += 1) {
+    const compactedVertex = remap[sourceVertex];
+    if (compactedVertex === missing) continue;
+    const sourceOffset = sourceVertex * 3;
+    const compactedOffset = compactedVertex * 3;
+    compactedPositions[compactedOffset] = transformed[sourceOffset];
+    compactedPositions[compactedOffset + 1] = transformed[sourceOffset + 1];
+    compactedPositions[compactedOffset + 2] = transformed[sourceOffset + 2];
+  }
+
+  const physicsMesh = new Mesh(app.graphicsDevice);
+  physicsMesh.setPositions(compactedPositions);
+  physicsMesh.setIndices(compactedIndices);
+  physicsMesh.update(PRIMITIVE_TRIANGLES, true);
+  return physicsMesh;
+}
+
+function cloneUgvPreset(preset: SimulationUgvPreset): SimulationUgvPreset {
+  return {
+    ...preset,
+    dimensionsMeters: { ...preset.dimensionsMeters },
+  };
+}
+
+function vehicleGeometryChanged(
+  current: SimulationUgvPreset,
+  next: SimulationUgvPreset,
+): boolean {
+  return current.massKg !== next.massKg
+    || current.dimensionsMeters.length !== next.dimensionsMeters.length
+    || current.dimensionsMeters.width !== next.dimensionsMeters.width
+    || current.dimensionsMeters.height !== next.dimensionsMeters.height
+    || current.dimensionsMeters.groundClearance !== next.dimensionsMeters.groundClearance;
+}
+
+function vehicleDimensions(settings: SimulationUgvPreset) {
+  const { length, width, height, groundClearance } = settings.dimensionsMeters;
+  const bodyHeight = height - groundClearance;
+  const wheelRadius = clamp(
+    groundClearance * 0.8,
+    0.07,
+    Math.min(height * 0.4, length * 0.22),
+  );
+  const wheelThickness = clamp(width * 0.13, 0.08, 0.16);
+  const bodyWidth = Math.max(0.12, width - wheelThickness * 2);
+  const mainHeight = bodyHeight * 0.68;
+  const equipmentHeight = bodyHeight - mainHeight;
+  const suspensionRestLength = clamp(groundClearance * 0.4, 0.04, 0.16);
+  const originHeight = groundClearance + bodyHeight / 2;
+  return {
+    length,
+    width,
+    bodyWidth,
+    mainHeight,
+    equipmentHeight,
+    mainCenterY: -bodyHeight / 2 + mainHeight / 2,
+    equipmentCenterY: bodyHeight / 2 - equipmentHeight / 2,
+    wheelRadius,
+    wheelThickness,
+    wheelX: width / 2 - wheelThickness / 2,
+    wheelZ: Math.max(0, length / 2 - wheelRadius),
+    wheelConnectionY: suspensionRestLength + wheelRadius - originHeight,
+    suspensionRestLength,
+    originHeight,
+  };
+}
+
+function createBox(name: string, scale: Vec3, material: StandardMaterial): Entity {
+  const entity = new Entity(name);
+  entity.addComponent("render", { type: "box", castShadows: false, receiveShadows: false });
+  entity.setLocalScale(scale);
+  applyMaterial(entity, material);
+  return entity;
+}
+
+function applyMaterial(entity: Entity, material: StandardMaterial): void {
+  for (const meshInstance of entity.render?.meshInstances ?? []) meshInstance.material = material;
+}
+
+function createMaterial(diffuse: Color, emissive: Color): StandardMaterial {
+  const material = new StandardMaterial();
+  material.diffuse = diffuse;
+  material.emissive = emissive;
+  material.metalness = 0.15;
+  material.gloss = 0.32;
+  material.update();
+  return material;
+}
+
+function readThemeAccent(): Color {
+  const raw = getComputedStyle(document.documentElement).getPropertyValue("--nodedc-accent-rgb");
+  const channels = raw.trim().split(/[\s,]+/).map(Number);
+  if (channels.length < 3 || channels.some((value) => !Number.isFinite(value))) {
+    return new Color(0.22, 0.72, 0.38);
+  }
+  return new Color(channels[0] / 255, channels[1] / 255, channels[2] / 255);
+}
+
+function isTextEntry(target: EventTarget | null): boolean {
+  return target instanceof HTMLInputElement || target instanceof HTMLTextAreaElement
+    || target instanceof HTMLSelectElement || target instanceof HTMLButtonElement
+    || (target instanceof HTMLElement && target.isContentEditable);
+}
+
+function clamp(value: number, min: number, max: number): number { return Math.max(min, Math.min(max, value)); }
+function approach(current: number, target: number, maximumDelta: number): number {
+  if (current < target) return Math.min(target, current + maximumDelta);
+  if (current > target) return Math.max(target, current - maximumDelta);
+  return target;
+}
+function approachAngle(current: number, target: number, maximumDelta: number): number {
+  const delta = ((target - current + Math.PI) % (Math.PI * 2) + Math.PI * 2) % (Math.PI * 2) - Math.PI;
+  return current + clamp(delta, -maximumDelta, maximumDelta);
+}
+function runCleanup(label: string, cleanup: () => void): void {
+  try {
+    cleanup();
+  } catch (error) {
+    console.warn(`[Simulation UGV] Cleanup failed: ${label}`, error);
+  }
+}
+
+function nextAnimationFrame(): Promise<void> { return new Promise((resolve) => requestAnimationFrame(() => resolve())); }

apps/control-station/src/components/simulation/SimulationUgvSettingsPanel.tsx

@@ -0,0 +1,191 @@
+import {
+  Button,
+  Icon,
+  RangeControl,
+  Switch,
+  TextField,
+} from "@nodedc/ui-react";
+
+import {
+  SIMULATION_UGV_EXACT_VALUE_LIMITS,
+  type SimulationUgvPreset,
+} from "../../core/simulation/projects";
+
+export type SimulationUgvPresetSaveState = "idle" | "saving" | "saved" | "failed";
+
+export function SimulationUgvSettingsPanel({
+  value,
+  disabled,
+  saveState,
+  onChange,
+  onSave,
+}: {
+  value: SimulationUgvPreset;
+  disabled: boolean;
+  saveState: SimulationUgvPresetSaveState;
+  onChange: (preset: SimulationUgvPreset) => void;
+  onSave: () => void;
+}) {
+  const dimensions = value.dimensionsMeters;
+  const updateDimensions = (
+    patch: Partial<SimulationUgvPreset["dimensionsMeters"]>,
+  ) => {
+    const next = { ...dimensions, ...patch };
+    next.groundClearance = Math.max(
+      SIMULATION_UGV_EXACT_VALUE_LIMITS.groundClearance.min,
+      Math.min(next.groundClearance, roundToHundredth(next.height - 0.05)),
+    );
+    onChange({ ...value, dimensionsMeters: next });
+  };
+
+  return (
+    <section className="simulation-viewport__settings-group simulation-ugv-settings">
+      <div className="simulation-viewport__settings-group-head">
+        <strong>Физика UGV</strong>
+        <span>Дифференциальный привод</span>
+      </div>
+      <p>
+        A/D без W/S разворачивают UGV вокруг собственного центра. Скорость и
+        динамика применяются сразу. Мышь вращает камеру вокруг машины, колесо
+        меняет дистанцию; после паузы камера плавно возвращается назад. Ползунок
+        работает в штатном диапазоне, точное значение можно ввести вручную.
+      </p>
+      <TextField
+        label="Название пресета"
+        value={value.presetName}
+        maxLength={80}
+        disabled={disabled}
+        spellCheck={false}
+        onChange={(event) => onChange({ ...value, presetName: event.currentTarget.value })}
+      />
+      <RangeControl
+        label="Масса конструкции"
+      value={value.massKg}
+      min={10}
+      max={500}
+      exactValueBounds={SIMULATION_UGV_EXACT_VALUE_LIMITS.massKg}
+        step={5}
+        disabled={disabled}
+        formatValue={(mass) => `${Math.round(mass)} кг`}
+        onChange={(massKg) => onChange({ ...value, massKg })}
+      />
+      <div className="simulation-ugv-settings__subhead">
+        <strong>Габариты</strong>
+        <span>В метрах</span>
+      </div>
+      <RangeControl
+        label="Длина"
+        value={dimensions.length}
+      min={0.4}
+      max={3}
+      exactValueBounds={SIMULATION_UGV_EXACT_VALUE_LIMITS.length}
+        step={0.05}
+        disabled={disabled}
+        formatValue={formatMeters}
+        onChange={(length) => updateDimensions({ length })}
+      />
+      <RangeControl
+        label="Ширина"
+        value={dimensions.width}
+      min={0.3}
+      max={2}
+      exactValueBounds={SIMULATION_UGV_EXACT_VALUE_LIMITS.width}
+        step={0.05}
+        disabled={disabled}
+        formatValue={formatMeters}
+        onChange={(width) => updateDimensions({ width })}
+      />
+      <RangeControl
+        label="Общая высота"
+        value={dimensions.height}
+      min={0.2}
+      max={2}
+      exactValueBounds={SIMULATION_UGV_EXACT_VALUE_LIMITS.height}
+        step={0.05}
+        disabled={disabled}
+        formatValue={formatMeters}
+        onChange={(height) => updateDimensions({ height })}
+      />
+      <RangeControl
+        label="Клиренс"
+        value={dimensions.groundClearance}
+      min={0.03}
+      max={Math.max(0.03, Math.min(0.6, dimensions.height - 0.05))}
+      exactValueBounds={{
+        min: SIMULATION_UGV_EXACT_VALUE_LIMITS.groundClearance.min,
+        max: Math.min(
+          SIMULATION_UGV_EXACT_VALUE_LIMITS.groundClearance.max,
+          dimensions.height - 0.05,
+        ),
+      }}
+        step={0.01}
+        disabled={disabled}
+        formatValue={formatMeters}
+        onChange={(groundClearance) => updateDimensions({ groundClearance })}
+      />
+      <div className="simulation-ugv-settings__subhead">
+        <strong>Динамика</strong>
+        <span>Ограничители движения</span>
+      </div>
+      <RangeControl
+        label="Скорость движения"
+        value={value.maxSpeedMetersPerSecond}
+      min={0.1}
+      max={8}
+      exactValueBounds={SIMULATION_UGV_EXACT_VALUE_LIMITS.maxSpeedMetersPerSecond}
+        step={0.1}
+        disabled={disabled}
+        formatValue={(speed) => `${formatDecimal(speed, 1)} м/с`}
+        onChange={(maxSpeedMetersPerSecond) => onChange({
+          ...value,
+          maxSpeedMetersPerSecond,
+        })}
+      />
+      <RangeControl
+        label="Скорость разворота"
+        value={value.maxTurnRateDegrees}
+      min={5}
+      max={180}
+      exactValueBounds={SIMULATION_UGV_EXACT_VALUE_LIMITS.maxTurnRateDegrees}
+        step={5}
+        disabled={disabled}
+        formatValue={(rate) => `${Math.round(rate)}°/с`}
+        onChange={(maxTurnRateDegrees) => onChange({ ...value, maxTurnRateDegrees })}
+      />
+      <Switch
+        checked={value.invertSteering}
+        disabled={disabled}
+        label="Инверсия управления A/D"
+        onChange={(invertSteering) => onChange({ ...value, invertSteering })}
+      />
+      <Button
+        className="simulation-ugv-settings__save"
+        size="compact"
+        variant="secondary"
+        icon={<Icon name="save" size={16} />}
+        disabled={disabled || saveState === "saving" || value.presetName.trim() === ""}
+        onClick={onSave}
+      >
+        {saveState === "saving"
+          ? "Сохраняем…"
+          : saveState === "saved"
+            ? "Пресет сохранён"
+            : saveState === "failed"
+              ? "Повторить сохранение"
+              : "Сохранить пресет"}
+      </Button>
+    </section>
+  );
+}
+
+function formatMeters(value: number): string {
+  return `${formatDecimal(value, 2)} м`;
+}
+
+function formatDecimal(value: number, digits: number): string {
+  return value.toFixed(digits).replace(".", ",");
+}
+
+function roundToHundredth(value: number): number {
+  return Math.round(value * 100) / 100;
+}

apps/control-station/src/components/simulation/SimulationViewport.tsx

@@ -2,18 +2,21 @@ import { useEffect, useId, useRef, useState } from "react";
 import {
   ActivityIndicator,
   Button,
+  GlassMaterialSurface,
   Icon,
   IconButton,
   SegmentedControl,
   Select,
   StatusBadge,
   Switch,
+  TextField,
 } from "@nodedc/ui-react";
 
 import {
   saveSimulationViewerSettings,
+  type SimulationEulerRotation,
   type SimulationProject,
-  type SimulationTransformAxis,
+  type SimulationUgvPreset,
   type SimulationViewerSettings,
 } from "../../core/simulation/projects";
 import {
@@ -22,16 +25,17 @@ import {
 } from "../../core/runtime/latestAsyncCommitter";
 import {
   PlayCanvasRuntime,
-  playCanvasAxisTransform,
+  playCanvasEulerTransform,
+  type SimulationControlMode,
   type SimulationQuality,
   type SimulationViewMode,
 } from "./PlayCanvasRuntime";
+import {
+  SimulationUgvSettingsPanel,
+  type SimulationUgvPresetSaveState,
+} from "./SimulationUgvSettingsPanel";
 
-const AXIS_OPTIONS: Array<{ value: SimulationTransformAxis; label: string }> = [
-  { value: "x", label: "X" },
-  { value: "y", label: "Y" },
-  { value: "z", label: "Z" },
-];
+const ROTATION_AXES = ["x", "y", "z"] as const;
 
 export function SimulationViewport({
   project,
@@ -44,23 +48,34 @@ export function SimulationViewport({
   const runtimeRef = useRef<PlayCanvasRuntime | null>(null);
   const viewerSettingsRef = useRef(project.viewerSettings);
   const settingsCommitterRef = useRef<LatestAsyncCommitter<SimulationViewerSettings> | null>(null);
+  const settingsCommitSucceededRef = useRef(true);
+  const ugvSaveRequestRef = useRef(0);
+  const controlRequestRef = useRef(0);
   const settingsId = useId();
   const [state, setState] = useState<"mounting" | "loading" | "ready" | "failed">("mounting");
   const [error, setError] = useState<string | null>(null);
   const [viewMode, setViewMode] = useState<SimulationViewMode>("visual");
+  const [controlMode, setControlMode] = useState<SimulationControlMode>("free");
+  const [controlState, setControlState] = useState<"idle" | "loading" | "ready" | "failed">("idle");
   const [quality, setQuality] = useState<SimulationQuality>(project.viewerSettings.quality);
   const [collisionState, setCollisionState] = useState<"idle" | "loading" | "ready" | "failed">("idle");
   const [settingsOpen, setSettingsOpen] = useState(false);
-  const [visualInverted, setVisualInverted] = useState(project.viewerSettings.visual.inverted);
-  const [visualAxis, setVisualAxis] = useState(project.viewerSettings.visual.axis);
-  const [collisionInverted, setCollisionInverted] = useState(project.viewerSettings.collision.inverted);
-  const [collisionAxis, setCollisionAxis] = useState(project.viewerSettings.collision.axis);
+  const [visualRotation, setVisualRotation] = useState({
+    ...project.viewerSettings.visual.rotationDegrees,
+  });
+  const [collisionRotation, setCollisionRotation] = useState({
+    ...project.viewerSettings.collision.rotationDegrees,
+  });
   const [horizontalInverted, setHorizontalInverted] = useState(
     project.viewerSettings.camera.invertHorizontal,
   );
   const [verticalInverted, setVerticalInverted] = useState(
     project.viewerSettings.camera.invertVertical,
   );
+  const [ugvDraft, setUgvDraft] = useState<SimulationUgvPreset>(() =>
+    cloneUgvPreset(project.viewerSettings.ugv),
+  );
+  const [ugvSaveState, setUgvSaveState] = useState<SimulationUgvPresetSaveState>("idle");
   const [settingsError, setSettingsError] = useState<string | null>(null);
   const worldManifestRevision = JSON.stringify(project.worldManifest);
 
@@ -68,14 +83,18 @@ export function SimulationViewport({
     const settings = project.viewerSettings;
     viewerSettingsRef.current = settings;
     setQuality(settings.quality);
-    setVisualInverted(settings.visual.inverted);
-    setVisualAxis(settings.visual.axis);
-    setCollisionInverted(settings.collision.inverted);
-    setCollisionAxis(settings.collision.axis);
+    setVisualRotation({ ...settings.visual.rotationDegrees });
+    setCollisionRotation({ ...settings.collision.rotationDegrees });
     setHorizontalInverted(settings.camera.invertHorizontal);
     setVerticalInverted(settings.camera.invertVertical);
+    setUgvDraft(cloneUgvPreset(settings.ugv));
+    setUgvSaveState("idle");
+    ugvSaveRequestRef.current += 1;
     setSettingsError(null);
     setSettingsOpen(false);
+    controlRequestRef.current += 1;
+    setControlMode("free");
+    setControlState("idle");
   }, [project.projectId]);
 
   useEffect(() => {
@@ -84,9 +103,11 @@ export function SimulationViewport({
       async commit(settings) {
         try {
           const saved = await saveSimulationViewerSettings(project.projectId, settings);
+          settingsCommitSucceededRef.current = true;
           if (active) onProjectChange?.(saved);
           return true;
         } catch (caught) {
+          settingsCommitSucceededRef.current = false;
           if (active) {
             setSettingsError(
               caught instanceof Error ? caught.message : "Не удалось сохранить настройки сцены.",
@@ -122,15 +143,16 @@ export function SimulationViewport({
       runtime.setQuality(settings.quality);
       runtime.setCameraInversion("horizontal", settings.camera.invertHorizontal);
       runtime.setCameraInversion("vertical", settings.camera.invertVertical);
+      runtime.setUgvPreset(settings.ugv);
       setState("loading");
       await runtime.loadWorld(manifest);
       runtime.setLayerWorldTransform(
         "visual",
-        playCanvasAxisTransform(settings.visual.axis, settings.visual.inverted),
+        playCanvasEulerTransform(settings.visual.rotationDegrees),
       );
       runtime.setLayerWorldTransform(
         "collision",
-        playCanvasAxisTransform(settings.collision.axis, settings.collision.inverted),
+        playCanvasEulerTransform(settings.collision.rotationDegrees),
       );
       if (!cancelled) setState("ready");
     }).catch((caught: unknown) => {
@@ -140,6 +162,7 @@ export function SimulationViewport({
     });
     return () => {
       cancelled = true;
+      controlRequestRef.current += 1;
       runtime.dispose();
       runtimeRef.current = null;
     };
@@ -151,25 +174,89 @@ export function SimulationViewport({
   const collisionAvailable = project.worldManifest?.collision.available ?? false;
   const commitViewerSettings = (settings: SimulationViewerSettings) => {
     viewerSettingsRef.current = settings;
+    settingsCommitSucceededRef.current = false;
     settingsCommitterRef.current?.enqueue(settings);
   };
 
+  const changeUgvDraft = (next: SimulationUgvPreset) => {
+    setUgvDraft(cloneUgvPreset(next));
+    setUgvSaveState("idle");
+    ugvSaveRequestRef.current += 1;
+    runtimeRef.current?.setUgvPreset(next);
+  };
+
+  const saveUgvPreset = () => {
+    const committer = settingsCommitterRef.current;
+    if (!committer) {
+      setUgvSaveState("failed");
+      return;
+    }
+    const request = ++ugvSaveRequestRef.current;
+    const normalized = cloneUgvPreset({
+      ...ugvDraft,
+      presetName: ugvDraft.presetName.trim(),
+    });
+    setUgvDraft(normalized);
+    setUgvSaveState("saving");
+    setSettingsError(null);
+    settingsCommitSucceededRef.current = false;
+    const settings = { ...viewerSettingsRef.current, ugv: normalized };
+    viewerSettingsRef.current = settings;
+    committer.enqueue(settings);
+    void committer.waitForIdle().then(() => {
+      if (request !== ugvSaveRequestRef.current) return;
+      setUgvSaveState(settingsCommitSucceededRef.current ? "saved" : "failed");
+    });
+  };
+
+  const changeControlMode = (next: SimulationControlMode) => {
+    const runtime = runtimeRef.current;
+    if (!runtime) return;
+    const request = ++controlRequestRef.current;
+    setControlMode(next);
+    setControlState(next === "ugv" ? "loading" : "idle");
+    if (next === "ugv" && collisionState !== "ready") setCollisionState("loading");
+    void runtime.setControlMode(next).then(() => {
+      if (request !== controlRequestRef.current) return;
+      if (next === "ugv") {
+        setControlState("ready");
+        setCollisionState("ready");
+      }
+    }).catch((caught: unknown) => {
+      if (request !== controlRequestRef.current) return;
+      setControlMode("free");
+      setControlState("failed");
+      setCollisionState("failed");
+      setError(caught instanceof Error ? caught.message : "Не удалось запустить UGV.");
+    });
+  };
+
   return (
-    <section className="simulation-viewport" aria-label={`Сцена ${project.name}`}>
+    <section
+      className="simulation-viewport"
+      data-control-mode={controlMode}
+      aria-label={`Сцена ${project.name}`}
+    >
       <header className="simulation-viewport__toolbar">
         <div>
           <StatusBadge tone={state === "failed" || collisionState === "failed" ? "warning" : state === "ready" && collisionState !== "loading" ? "success" : "accent"}>
-            {collisionState === "loading"
-              ? "Загрузка collision"
+            {controlState === "loading"
+              ? "Подготовка UGV"
+              : controlState === "ready"
+                ? "UGV готов"
+                : controlState === "failed"
+                  ? "Ошибка UGV"
+                  : collisionState === "loading"
+              ? "Загрузка коллизий"
               : collisionState === "failed"
-                ? "Ошибка collision"
+                ? "Ошибка коллизий"
                 : state === "ready"
                   ? "Runtime готов"
                   : state === "failed"
                     ? "Ошибка runtime"
-                    : "Загрузка сцены"}
+                    : "Загрузка локации"}
           </StatusBadge>
-          <span>PlayCanvas Engine 2.21.4</span>
+          <span>Engine 2.21.4</span>
         </div>
         <div className="simulation-viewport__controls">
           <Select
@@ -190,6 +277,27 @@ export function SimulationViewport({
             minMenuWidth={230}
             menuWidth={230}
           />
+          <Select
+            label="Режим управления"
+            value={controlMode}
+            disabled={state !== "ready" || controlState === "loading"}
+            onChange={changeControlMode}
+            options={[
+              {
+                value: "free",
+                label: "Свободно",
+                description: "Свободная камера и навигация",
+              },
+              {
+                value: "ugv",
+                label: "UGV",
+                description: "WASD/стрелки · пробел — тормоз · R — домой",
+                disabled: !collisionAvailable,
+              },
+            ]}
+            minMenuWidth={250}
+            menuWidth={250}
+          />
           <SegmentedControl
             label="Слой сцены"
             value={viewMode}
@@ -204,7 +312,7 @@ export function SimulationViewport({
                 if (next !== "visual") setCollisionState("ready");
               }).catch((caught: unknown) => {
                 setCollisionState("failed");
-                setError(caught instanceof Error ? caught.message : "Не удалось открыть collision GLB.");
+                setError(caught instanceof Error ? caught.message : "Не удалось открыть слой коллизий.");
               });
             }}
             items={[
@@ -227,7 +335,7 @@ export function SimulationViewport({
               <Icon name="settings" size={18} />
             </IconButton>
             {settingsOpen ? (
-              <div
+              <GlassMaterialSurface
                 id={settingsId}
                 className="simulation-viewport__settings"
                 role="dialog"
@@ -236,100 +344,57 @@ export function SimulationViewport({
                 <div className="simulation-viewport__settings-head">
                   <div>
                     <strong>Настройки сцены</strong>
-                    <span>Gaussian-мир и камера</span>
+                    <span>Локация, камера и UGV</span>
                   </div>
                   <IconButton label="Закрыть настройки" onClick={() => setSettingsOpen(false)}>
                     <Icon name="close" size={16} />
                   </IconButton>
                 </div>
-                <section className="simulation-viewport__settings-group">
+                <div className="simulation-viewport__settings-scroll">
+                  <section className="simulation-viewport__settings-group">
                   <div className="simulation-viewport__settings-group-head">
                     <strong>Система координат</strong>
-                    <span>Мир PlayCanvas · Y вверх</span>
+                    <span>Мир сцены · Y вверх</span>
                   </div>
                   <p>
                     Коррекция слоёв не меняет координаты камеры, навигации и будущей физики.
                   </p>
-                  <div className="simulation-viewport__settings-switches">
-                    <div className="simulation-viewport__settings-layer-row">
-                      <Switch
-                        checked={visualInverted}
-                        disabled={state !== "ready"}
-                        label="Инверсия визуального слоя"
-                        onChange={(checked) => {
-                          setVisualInverted(checked);
-                          runtimeRef.current?.setLayerWorldTransform(
-                            "visual",
-                            playCanvasAxisTransform(visualAxis, checked),
-                          );
-                          commitViewerSettings({
-                            ...viewerSettingsRef.current,
-                            visual: { ...viewerSettingsRef.current.visual, inverted: checked },
-                          });
-                        }}
-                      />
-                      <Select
-                        className="simulation-viewport__axis-select"
-                        label="Ось инверсии визуального слоя"
-                        value={visualAxis}
-                        options={AXIS_OPTIONS}
-                        disabled={state !== "ready"}
-                        minMenuWidth={72}
-                        menuWidth={72}
-                        onChange={(axis) => {
-                          setVisualAxis(axis);
-                          runtimeRef.current?.setLayerWorldTransform(
-                            "visual",
-                            playCanvasAxisTransform(axis, visualInverted),
-                          );
-                          commitViewerSettings({
-                            ...viewerSettingsRef.current,
-                            visual: { ...viewerSettingsRef.current.visual, axis },
-                          });
-                        }}
-                      />
-                    </div>
-                    <div className="simulation-viewport__settings-layer-row">
-                      <Switch
-                        checked={collisionInverted}
-                        disabled={state !== "ready"}
-                        label="Инверсия collision-слоя"
-                        onChange={(checked) => {
-                          setCollisionInverted(checked);
-                          runtimeRef.current?.setLayerWorldTransform(
-                            "collision",
-                            playCanvasAxisTransform(collisionAxis, checked),
-                          );
-                          commitViewerSettings({
-                            ...viewerSettingsRef.current,
-                            collision: { ...viewerSettingsRef.current.collision, inverted: checked },
-                          });
-                        }}
-                      />
-                      <Select
-                        className="simulation-viewport__axis-select"
-                        label="Ось инверсии collision-слоя"
-                        value={collisionAxis}
-                        options={AXIS_OPTIONS}
-                        disabled={state !== "ready"}
-                        minMenuWidth={72}
-                        menuWidth={72}
-                        onChange={(axis) => {
-                          setCollisionAxis(axis);
-                          runtimeRef.current?.setLayerWorldTransform(
-                            "collision",
-                            playCanvasAxisTransform(axis, collisionInverted),
-                          );
-                          commitViewerSettings({
-                            ...viewerSettingsRef.current,
-                            collision: { ...viewerSettingsRef.current.collision, axis },
-                          });
-                        }}
-                      />
-                    </div>
+                  <div className="simulation-viewport__settings-rotations">
+                    <LayerRotationFields
+                      label="Гауссовый слой"
+                      value={visualRotation}
+                      disabled={state !== "ready"}
+                      onChange={(next) => {
+                        setVisualRotation(next);
+                        runtimeRef.current?.setLayerWorldTransform(
+                          "visual",
+                          playCanvasEulerTransform(next),
+                        );
+                        commitViewerSettings({
+                          ...viewerSettingsRef.current,
+                          visual: { rotationDegrees: next },
+                        });
+                      }}
+                    />
+                    <LayerRotationFields
+                      label="Слой коллизий"
+                      value={collisionRotation}
+                      disabled={state !== "ready"}
+                      onChange={(next) => {
+                        setCollisionRotation(next);
+                        runtimeRef.current?.setLayerWorldTransform(
+                          "collision",
+                          playCanvasEulerTransform(next),
+                        );
+                        commitViewerSettings({
+                          ...viewerSettingsRef.current,
+                          collision: { rotationDegrees: next },
+                        });
+                      }}
+                    />
                   </div>
-                </section>
-                <section className="simulation-viewport__settings-group">
+                  </section>
+                  <section className="simulation-viewport__settings-group">
                   <div className="simulation-viewport__settings-group-head">
                     <strong>Управление камерой</strong>
                     <span>Мышь и тачпад</span>
@@ -362,39 +427,165 @@ export function SimulationViewport({
                       }}
                     />
                   </div>
-                </section>
-                {settingsError ? (
-                  <p className="simulation-viewport__settings-error" role="alert">
-                    Настройки не сохранены: {settingsError}
-                  </p>
-                ) : null}
-              </div>
+                  </section>
+                  <SimulationUgvSettingsPanel
+                    value={ugvDraft}
+                    disabled={state !== "ready"}
+                    saveState={ugvSaveState}
+                    onChange={changeUgvDraft}
+                    onSave={saveUgvPreset}
+                  />
+                  {settingsError ? (
+                    <p className="simulation-viewport__settings-error" role="alert">
+                      Настройки не сохранены: {settingsError}
+                    </p>
+                  ) : null}
+                </div>
+              </GlassMaterialSurface>
             ) : null}
           </div>
         </div>
         <span className="simulation-viewport__toolbar-balance" aria-hidden="true" />
       </header>
       <div className="simulation-viewport__stage">
-        <canvas ref={canvasRef} aria-label={`PlayCanvas сцена ${project.name}`} />
+        <canvas ref={canvasRef} aria-label={`Сцена ${project.name}`} />
         {state !== "ready" ? (
           <div className="simulation-viewport__state" role={state === "failed" ? "alert" : "status"}>
-            {state === "failed" ? null : <ActivityIndicator label="Загрузка сцены" />}
-            <strong>{state === "failed" ? "Сцена не открылась" : "PlayCanvas загружает мир"}</strong>
-            <p>{error ?? "Streamed SOG догружается по мере готовности runtime."}</p>
+            {state === "failed" ? null : <ActivityIndicator label="Загрузка локации" />}
+            <strong>{state === "failed" ? "Локация не открылась" : "Загружаем локацию"}</strong>
+            <p>{error ?? "LOD-уровни загружаются по мере готовности runtime."}</p>
           </div>
         ) : null}
       </div>
       {!collisionAvailable ? (
         <footer className="simulation-viewport__notice">
-          <StatusBadge tone="warning">Collision недоступен</StatusBadge>
-          <span>Для этой сборки collision GLB не был запрошен; визуальный слой настоящий и не подменяется.</span>
+          <StatusBadge tone="warning">Коллизии недоступны</StatusBadge>
+          <span>Для этой сборки слой коллизий не создавался; визуальный слой остаётся доступен.</span>
         </footer>
       ) : collisionState === "failed" ? (
         <footer className="simulation-viewport__notice" role="alert">
-          <StatusBadge tone="warning">Collision не открылся</StatusBadge>
-          <span>{error ?? "PlayCanvas не смог загрузить collision GLB."}</span>
+          <StatusBadge tone="warning">Коллизии не открылись</StatusBadge>
+          <span>{error ?? "Слой коллизий не загрузился."}</span>
         </footer>
       ) : null}
     </section>
   );
 }
+
+function cloneUgvPreset(preset: SimulationUgvPreset): SimulationUgvPreset {
+  return {
+    ...preset,
+    dimensionsMeters: { ...preset.dimensionsMeters },
+  };
+}
+
+function LayerRotationFields({
+  label,
+  value,
+  disabled,
+  onChange,
+}: {
+  label: string;
+  value: SimulationEulerRotation;
+  disabled: boolean;
+  onChange: (rotation: SimulationEulerRotation) => void;
+}) {
+  return (
+    <div className="simulation-viewport__rotation-row">
+      <strong>{label}</strong>
+      <div className="simulation-viewport__rotation-fields">
+        {ROTATION_AXES.map((axis) => (
+          <RotationField
+            key={axis}
+            label={axis.toUpperCase()}
+            ariaLabel={`${label}: вращение ${axis.toUpperCase()}`}
+            value={value[axis]}
+            disabled={disabled}
+            onChange={(angle) => onChange({ ...value, [axis]: angle })}
+          />
+        ))}
+      </div>
+    </div>
+  );
+}
+
+function RotationField({
+  label,
+  ariaLabel,
+  value,
+  disabled,
+  onChange,
+}: {
+  label: string;
+  ariaLabel: string;
+  value: number;
+  disabled: boolean;
+  onChange: (angle: number) => void;
+}) {
+  const [draft, setDraft] = useState(() => String(value));
+  const editingRef = useRef(false);
+  const cancelNextBlurRef = useRef(false);
+
+  useEffect(() => {
+    if (!editingRef.current) setDraft(String(value));
+  }, [value]);
+
+  const parsedDraft = () => Number(draft.trim().replace(",", "."));
+  const finishEditing = (commit: boolean) => {
+    const parsed = parsedDraft();
+    if (commit && draft.trim() !== "" && Number.isFinite(parsed)) {
+      const normalized = Math.max(-360, Math.min(360, parsed));
+      onChange(normalized);
+      setDraft(String(normalized));
+    } else {
+      setDraft(String(value));
+    }
+    editingRef.current = false;
+  };
+
+  return (
+    <TextField
+      label={label}
+      aria-label={ariaLabel}
+      fieldClassName="simulation-viewport__rotation-field"
+      className="simulation-viewport__rotation-input"
+      type="text"
+      inputMode="decimal"
+      value={draft}
+      disabled={disabled}
+      spellCheck={false}
+      onFocus={() => {
+        editingRef.current = true;
+      }}
+      onChange={(event) => {
+        // Treat the first input event as the start of editing as well. Programmatic
+        // focus (and some browser/trackpad paths) may not deliver React's focus
+        // event before the controlled value changes.
+        editingRef.current = true;
+        const nextDraft = event.currentTarget.value;
+        setDraft(nextDraft);
+        const parsed = Number(nextDraft.trim().replace(",", "."));
+        if (nextDraft.trim() !== "" && Number.isFinite(parsed) && parsed >= -360 && parsed <= 360) {
+          onChange(parsed);
+        }
+      }}
+      onKeyDown={(event) => {
+        event.stopPropagation();
+        if (event.key === "Enter") event.currentTarget.blur();
+        if (event.key === "Escape") {
+          event.preventDefault();
+          cancelNextBlurRef.current = true;
+          finishEditing(false);
+          event.currentTarget.blur();
+        }
+      }}
+      onBlur={() => {
+        if (cancelNextBlurRef.current) {
+          cancelNextBlurRef.current = false;
+          return;
+        }
+        finishEditing(true);
+      }}
+    />
+  );
+}

apps/control-station/src/core/laboratory/advancedIndex.ts

@@ -46,14 +46,20 @@ import { fetchM48StaticOccupancyQualification } from "./m48StaticOccupancyQualif
 import { fetchM48R3StaticOccupancyShadow } from "./m48r3StaticOccupancyShadow";
 import { fetchM48SFixedClassDetectorResult } from "./m48sFixedClassDetector";
 import { fetchM48TRiskQualityResult } from "./m48tRiskQuality";
+import { fetchM49TgsFailClosedResult } from "./m49TgsFailClosed";
+import { fetchM49TgsFullShadowResult } from "./m49TgsFullShadow";
+import { fetchVegetationShadowResult } from "./vegetationShadow";
 
 export type AdvancedLaboratoryWorkId =
+  | "lab-v1-vegetation-shadow"
   | "m48-object-centric-quality"
   | "m48-small-static-passage-regression"
   | "m48-static-occupancy-qualification"
   | "m48r3-static-occupancy-shadow"
   | "m48s-fixed-class-detector"
   | "m48t-risk-quality-temporal"
+  | "m49-tgs-fail-closed-evidence"
+  | "m49-tgs-full-shadow"
   | "m47-reference-graph-shadow"
   | "m4-replay-threat"
   | "l3-pointpillars-visual-audit"
@@ -96,12 +102,15 @@ export interface AdvancedLaboratoryIndexItem {
 }
 
 const WORK_IDS: readonly AdvancedLaboratoryWorkId[] = [
+  "lab-v1-vegetation-shadow",
   "m48-object-centric-quality",
   "m48-small-static-passage-regression",
   "m48-static-occupancy-qualification",
   "m48r3-static-occupancy-shadow",
   "m48s-fixed-class-detector",
   "m48t-risk-quality-temporal",
+  "m49-tgs-fail-closed-evidence",
+  "m49-tgs-full-shadow",
   "m47-reference-graph-shadow",
   "m4-replay-threat",
   "l3-pointpillars-visual-audit",
@@ -139,12 +148,15 @@ const WORK_IDS: readonly AdvancedLaboratoryWorkId[] = [
 ];
 
 const RESULT_PREFIX: Readonly<Record<AdvancedLaboratoryWorkId, string>> = {
+  "lab-v1-vegetation-shadow": "lab-v1-vegetation-shadow",
   "m48-object-centric-quality": "m48-object-quality-(?:pack|result)",
   "m48-small-static-passage-regression": "m48-small-static-passage-regression",
   "m48-static-occupancy-qualification": "m48-static-occupancy-qualification",
   "m48r3-static-occupancy-shadow": "m48r3-static-occupancy-shadow",
   "m48s-fixed-class-detector": "m48s-fixed-class-detector-lab",
   "m48t-risk-quality-temporal": "(?:m48t-risk-quality-temporal-lab|m48q-native-risk-quality-lab)",
+  "m49-tgs-fail-closed-evidence": "m49-tgs-fail-closed",
+  "m49-tgs-full-shadow": "m49-tgs-full-shadow",
   "m47-reference-graph-shadow": "m47-reference-graph-lab",
   "m4-replay-threat": "m4-threat-replay",
   "l3-pointpillars-visual-audit": "l3-pointpillars-visual-audit",
@@ -189,6 +201,7 @@ export function isAdvancedLaboratoryWorkId(
 
 export function emptyAdvancedLaboratoryResults(): AdvancedLaboratoryResults {
   return {
+    vegetationShadow: null,
     m47Graph: null,
     m48: null,
     m48SmallStatic: null,
@@ -196,6 +209,8 @@ export function emptyAdvancedLaboratoryResults(): AdvancedLaboratoryResults {
     m48r3StaticOccupancy: null,
     m48s: null,
     m48t: null,
+    m49Tgs: null,
+    m49TgsFull: null,
     m4Threat: null,
     l3: null,
     l31: null,
@@ -320,12 +335,15 @@ export function advancedLaboratoryResultAvailable(
   workId: AdvancedLaboratoryWorkId,
   results: AdvancedLaboratoryResults,
 ): boolean {
-  return workId === "m48-object-centric-quality" ? results.m48 !== null
+  return workId === "lab-v1-vegetation-shadow" ? results.vegetationShadow !== null
+    : workId === "m48-object-centric-quality" ? results.m48 !== null
     : workId === "m48-small-static-passage-regression" ? results.m48SmallStatic !== null
     : workId === "m48-static-occupancy-qualification" ? results.m48StaticOccupancy !== null
     : workId === "m48r3-static-occupancy-shadow" ? results.m48r3StaticOccupancy !== null
     : workId === "m48s-fixed-class-detector" ? results.m48s !== null
     : workId === "m48t-risk-quality-temporal" ? results.m48t !== null
+    : workId === "m49-tgs-fail-closed-evidence" ? results.m49Tgs !== null
+    : workId === "m49-tgs-full-shadow" ? results.m49TgsFull !== null
     : workId === "m47-reference-graph-shadow" ? results.m47Graph !== null
     : workId === "m4-replay-threat" ? results.m4Threat !== null
     : workId === "l3-pointpillars-visual-audit" ? results.l3 !== null
@@ -375,7 +393,10 @@ export async function fetchAdvancedLaboratoryResult(
   } = {},
 ): Promise<AdvancedLaboratoryResults> {
   const results = emptyAdvancedLaboratoryResults();
-  if (workId === "m48-object-centric-quality") {
+  if (workId === "lab-v1-vegetation-shadow") {
+    if (!resultId) throw new AdvancedLaboratoryContractError("Vegetation LAB identity не выбрана.");
+    results.vegetationShadow = await fetchVegetationShadowResult(resultId, { fetcher, signal });
+  } else if (workId === "m48-object-centric-quality") {
     if (!resultId) throw new AdvancedLaboratoryContractError("M4.8 lifecycle evidence identity не выбрана.");
     results.m48 = await fetchM48LifecycleResult(resultId, { fetcher, signal });
   } else if (workId === "m48-small-static-passage-regression") {
@@ -393,6 +414,12 @@ export async function fetchAdvancedLaboratoryResult(
   } else if (workId === "m48t-risk-quality-temporal") {
     if (!resultId) throw new AdvancedLaboratoryContractError("M4.8T LAB identity не выбрана.");
     results.m48t = await fetchM48TRiskQualityResult(resultId, { fetcher, signal });
+  } else if (workId === "m49-tgs-fail-closed-evidence") {
+    if (!resultId) throw new AdvancedLaboratoryContractError("M4.9 TGS LAB identity не выбрана.");
+    results.m49Tgs = await fetchM49TgsFailClosedResult(resultId, { fetcher, signal });
+  } else if (workId === "m49-tgs-full-shadow") {
+    if (!resultId) throw new AdvancedLaboratoryContractError("M4.9 full TGS shadow identity не выбрана.");
+    results.m49TgsFull = await fetchM49TgsFullShadowResult(resultId, { fetcher, signal });
   } else if (workId === "m47-reference-graph-shadow") {
     if (!resultId) {
       throw new AdvancedLaboratoryContractError("M4.7 LAB identity не выбрана.");

apps/control-station/src/core/laboratory/advancedLaboratoryResults.ts

@@ -40,8 +40,12 @@ import type { M48StaticOccupancyQualificationResult } from "./m48StaticOccupancy
 import type { M48R3StaticOccupancyShadowResult } from "./m48r3StaticOccupancyShadow";
 import type { M48SFixedClassDetectorResult } from "./m48sFixedClassDetector";
 import type { M48TRiskQualityResult } from "./m48tRiskQuality";
+import type { M49TgsFailClosedResult } from "./m49TgsFailClosed";
+import type { M49TgsFullShadowResult } from "./m49TgsFullShadow";
+import type { VegetationShadowResult } from "./vegetationShadow";
 
 export interface AdvancedLaboratoryResults {
+  vegetationShadow: VegetationShadowResult | null;
   m47Graph: M47ReferenceGraphLabResult | null;
   m48: M48AdvancedResult | null;
   m48SmallStatic: M48SmallStaticRegressionResult | null;
@@ -49,6 +53,8 @@ export interface AdvancedLaboratoryResults {
   m48r3StaticOccupancy: M48R3StaticOccupancyShadowResult | null;
   m48s: M48SFixedClassDetectorResult | null;
   m48t: M48TRiskQualityResult | null;
+  m49Tgs: M49TgsFailClosedResult | null;
+  m49TgsFull: M49TgsFullShadowResult | null;
   m4Threat: M4ThreatReplayResult | null;
   l3: L3PointPillarsVisualAuditResult | null;
   l31: L31PointPillarsRavnovesResult | null;

apps/control-station/src/core/laboratory/advancedResults.ts

@@ -967,9 +967,10 @@ export async function fetchAdvancedLaboratoryResults({
   const e39 = settledCatalogValue(settled[7]);
   const e40 = settledCatalogValue(settled[8]);
   return {
+    vegetationShadow: null,
     m47Graph: null, m48: null, m48SmallStatic: null, m48StaticOccupancy: null,
     m48r3StaticOccupancy: null,
-    m48s: null, m48t: null, m4Threat: null,
+    m48s: null, m48t: null, m49Tgs: null, m49TgsFull: null, m4Threat: null,
     l3: null, l31: null, l32: null, l33: null,
     e31,
     e32,

apps/control-station/src/core/laboratory/m49PhysicalSafetyPlayback.ts

@@ -0,0 +1,671 @@
+import type { LaboratoryFetch } from "./advancedResults";
+
+const RESULT_ID = /^m49-physical-safety-playback-[a-f0-9]{64}$/;
+const SOURCE_RESULT_ID = /^m49-tgs-full-shadow-[a-f0-9]{64}$/;
+const SCHEMA = "missioncore.m49-physical-safety-playback/v1";
+const CHUNK_MAGIC = "MCPSCH01";
+const CHUNK_HEADER_BYTES = 28;
+const ENDPOINT_ROOT = "/api/v1/laboratory/m49/physical-safety-playback";
+
+export interface M49PhysicalSafetyPlaybackFrameMetadata {
+  sourceSequence: number;
+  sourceFrameIndex: number;
+  sessionSeconds: number;
+  sampleAvailable: boolean;
+  metrics: Readonly<Record<string, number>>;
+}
+
+interface ArtifactDescriptor {
+  url: string;
+  mediaType: string;
+  byteLength: number;
+  sha256: string;
+}
+
+interface ChunkDescriptor extends ArtifactDescriptor {
+  index: number;
+  start: number;
+  count: number;
+  headerBytes: 28;
+  format: "mcpsch01-states-u8-aligned-z-bounds-f32le";
+}
+
+export interface M49PhysicalSafetyPlaybackManifest {
+  resultId: string;
+  createdAtUtc: string;
+  sourceResultId: string;
+  frameCount: number;
+  cellCount: number;
+  cellSizeM: number;
+  radiusM: number;
+  sourcePaceHz: number;
+  stateCodes: Readonly<Record<string, number>>;
+  chunkFrameCount: 32;
+  startupPrebufferChunkCount: 2;
+  residentChunkCountMax: 3;
+  forwardPrefetchChunkCount: 1;
+  centers: ArtifactDescriptor;
+  frames: ArtifactDescriptor;
+  chunks: readonly ChunkDescriptor[];
+}
+
+interface ResidentChunk {
+  descriptor: ChunkDescriptor;
+  states: Uint8Array;
+  zBoundsM: Float32Array;
+  byteLength: number;
+}
+
+export interface M49PhysicalSafetyPlaybackFrame {
+  metadata: M49PhysicalSafetyPlaybackFrameMetadata;
+  centersXyM: Float32Array;
+  states: Uint8Array;
+  zBoundsM: Float32Array;
+  cellSizeM: number;
+  radiusM: number;
+}
+
+export interface M49PhysicalSafetyPlaybackProgress {
+  phase: "manifest" | "static" | "prebuffer" | "ready" | "seek";
+  residentChunkIndexes: readonly number[];
+  loadedBytes: number;
+}
+
+export class M49PhysicalSafetyPlaybackContractError extends Error {}
+
+function objectValue(value: unknown, label: string): Record<string, unknown> {
+  if (!value || typeof value !== "object" || Array.isArray(value)) {
+    throw new M49PhysicalSafetyPlaybackContractError(`${label}: ожидался объект.`);
+  }
+  return value as Record<string, unknown>;
+}
+
+function text(value: unknown, label: string): string {
+  if (typeof value !== "string" || !value.trim()) {
+    throw new M49PhysicalSafetyPlaybackContractError(`${label}: ожидалась строка.`);
+  }
+  return value;
+}
+
+function finiteNumber(value: unknown, label: string): number {
+  if (typeof value !== "number" || !Number.isFinite(value)) {
+    throw new M49PhysicalSafetyPlaybackContractError(`${label}: ожидалось число.`);
+  }
+  return value;
+}
+
+function integer(value: unknown, label: string): number {
+  const parsed = finiteNumber(value, label);
+  if (!Number.isSafeInteger(parsed) || parsed < 0) {
+    throw new M49PhysicalSafetyPlaybackContractError(`${label}: ожидалось целое число.`);
+  }
+  return parsed;
+}
+
+function booleanValue(value: unknown, label: string): boolean {
+  if (typeof value !== "boolean") {
+    throw new M49PhysicalSafetyPlaybackContractError(`${label}: ожидался boolean.`);
+  }
+  return value;
+}
+
+function exact<T extends string | number | boolean>(value: unknown, expected: T, label: string): T {
+  if (value !== expected) {
+    throw new M49PhysicalSafetyPlaybackContractError(`${label}: нарушен контракт.`);
+  }
+  return expected;
+}
+
+function sha256(value: unknown, label: string): string {
+  const parsed = text(value, label);
+  if (!/^[a-f0-9]{64}$/.test(parsed)) {
+    throw new M49PhysicalSafetyPlaybackContractError(`${label}: SHA-256 недопустим.`);
+  }
+  return parsed;
+}
+
+function localUrl(value: unknown, expected: string, label: string): string {
+  const parsed = text(value, label);
+  if (parsed !== expected || parsed.includes("worker")) {
+    throw new M49PhysicalSafetyPlaybackContractError(`${label}: разрешён только sealed local API.`);
+  }
+  return parsed;
+}
+
+function descriptor(
+  value: unknown,
+  expectedUrl: string,
+  label: string,
+): ArtifactDescriptor {
+  const row = objectValue(value, label);
+  return {
+    url: localUrl(row.url, expectedUrl, `${label}.url`),
+    mediaType: text(row.media_type, `${label}.media_type`),
+    byteLength: integer(row.byte_length, `${label}.byte_length`),
+    sha256: sha256(row.sha256, `${label}.sha256`),
+  };
+}
+
+async function sha256Hex(buffer: ArrayBuffer): Promise<string> {
+  if (!globalThis.crypto?.subtle) {
+    throw new M49PhysicalSafetyPlaybackContractError(
+      "Браузер не поддерживает проверку playback SHA-256.",
+    );
+  }
+  const digest = await globalThis.crypto.subtle.digest("SHA-256", buffer);
+  return [...new Uint8Array(digest)]
+    .map((value) => value.toString(16).padStart(2, "0"))
+    .join("");
+}
+
+async function fetchVerified(
+  artifact: ArtifactDescriptor,
+  fetcher: LaboratoryFetch,
+  signal?: AbortSignal,
+): Promise<ArrayBuffer> {
+  const response = await fetcher(artifact.url, {
+    method: "GET",
+    headers: { Accept: artifact.mediaType },
+    signal,
+  });
+  if (!response.ok) {
+    throw new M49PhysicalSafetyPlaybackContractError(
+      `Sealed local playback недоступен: HTTP ${response.status}.`,
+    );
+  }
+  const buffer = await response.arrayBuffer();
+  if (buffer.byteLength !== artifact.byteLength) {
+    throw new M49PhysicalSafetyPlaybackContractError(
+      "Sealed local playback: получен неверный размер.",
+    );
+  }
+  if (await sha256Hex(buffer) !== artifact.sha256) {
+    throw new M49PhysicalSafetyPlaybackContractError(
+      "Sealed local playback: SHA-256 не совпал.",
+    );
+  }
+  return buffer;
+}
+
+function parseStateCodes(value: unknown): Readonly<Record<string, number>> {
+  const row = objectValue(value, "M49 physical-safety state codes");
+  const parsed: Record<string, number> = {};
+  for (const [name, code] of Object.entries(row)) {
+    const stateCode = integer(code, `M49 physical-safety state code ${name}`);
+    if (stateCode > 255) {
+      throw new M49PhysicalSafetyPlaybackContractError("M49 state code превышает uint8.");
+    }
+    parsed[name] = stateCode;
+  }
+  if (parsed.UNOBSERVED !== 0 || !Object.keys(parsed).length) {
+    throw new M49PhysicalSafetyPlaybackContractError("M49 UNOBSERVED state изменился.");
+  }
+  return parsed;
+}
+
+async function fetchManifest(
+  resultId: string,
+  fetcher: LaboratoryFetch,
+  signal?: AbortSignal,
+): Promise<M49PhysicalSafetyPlaybackManifest> {
+  if (!RESULT_ID.test(resultId)) {
+    throw new M49PhysicalSafetyPlaybackContractError("M49 physical-safety identity недопустима.");
+  }
+  const base = `${ENDPOINT_ROOT}/${encodeURIComponent(resultId)}`;
+  const response = await fetcher(`${base}/manifest`, {
+    method: "GET",
+    headers: { Accept: "application/json" },
+    signal,
+  });
+  if (!response.ok) {
+    throw new M49PhysicalSafetyPlaybackContractError(
+      `M49 physical-safety manifest недоступен: HTTP ${response.status}.`,
+    );
+  }
+  const payload = objectValue(await response.json(), "M49 physical-safety manifest");
+  exact(payload.schema_version, SCHEMA, "M49 physical-safety schema");
+  exact(payload.result_id, resultId, "M49 physical-safety result");
+  exact(payload.access, "read-only-sealed-local", "M49 physical-safety access");
+  const identity = objectValue(payload.identity, "M49 physical-safety identity");
+  const execution = objectValue(payload.execution, "M49 physical-safety execution");
+  exact(execution.execution_class, "local-sequential-offline", "M49 execution class");
+  exact(execution.worker_role, "realtime-only", "M49 worker role");
+  exact(execution.worker_runtime_dependency, false, "M49 worker dependency");
+  exact(execution.worker_requests_required, 0, "M49 worker requests");
+  const authority = objectValue(payload.authority, "M49 physical-safety authority");
+  exact(authority.commands_enabled, false, "M49 commands");
+  exact(authority.navigation_or_safety_accepted, false, "M49 safety authority");
+  exact(authority.actuation_accepted, false, "M49 actuation authority");
+  const playback = objectValue(payload.playback, "M49 physical-safety playback");
+  exact(playback.coordinate_frame, "map-gravity-local", "M49 coordinate frame");
+  const frameCount = integer(playback.frame_count, "M49 frame count");
+  const cellCount = integer(playback.cell_count, "M49 cell count");
+  if (!frameCount || !cellCount) {
+    throw new M49PhysicalSafetyPlaybackContractError("M49 playback не содержит evidence.");
+  }
+  const chunkFrameCount = exact(
+    integer(playback.chunk_frame_count, "M49 chunk frame count"),
+    32,
+    "M49 chunk frame count",
+  );
+  const startupPrebufferChunkCount = exact(
+    integer(playback.startup_prebuffer_chunk_count, "M49 startup prebuffer"),
+    2,
+    "M49 startup prebuffer",
+  );
+  const residentChunkCountMax = exact(
+    integer(playback.resident_chunk_count_max, "M49 resident chunks"),
+    3,
+    "M49 resident chunks",
+  );
+  const forwardPrefetchChunkCount = exact(
+    integer(playback.forward_prefetch_chunk_count, "M49 forward prefetch"),
+    1,
+    "M49 forward prefetch",
+  );
+  const centers = descriptor(playback.centers, `${base}/tracks/centers`, "M49 centers");
+  const centerRow = objectValue(playback.centers, "M49 centers");
+  exact(centerRow.dtype, "<f4", "M49 centers dtype");
+  if (!Array.isArray(centerRow.shape)
+      || centerRow.shape.length !== 2
+      || centerRow.shape[0] !== cellCount
+      || centerRow.shape[1] !== 2
+      || centers.byteLength !== cellCount * 2 * 4) {
+    throw new M49PhysicalSafetyPlaybackContractError("M49 centers shape изменилась.");
+  }
+  const frames = descriptor(playback.frames, `${base}/tracks/frames`, "M49 frames");
+  const frameRow = objectValue(playback.frames, "M49 frames");
+  exact(frameRow.dtype, "ndjson", "M49 frames dtype");
+  if (!Array.isArray(frameRow.shape)
+      || frameRow.shape.length !== 1
+      || frameRow.shape[0] !== frameCount) {
+    throw new M49PhysicalSafetyPlaybackContractError("M49 frames shape изменилась.");
+  }
+  if (!Array.isArray(playback.chunks)) {
+    throw new M49PhysicalSafetyPlaybackContractError("M49 chunk catalog отсутствует.");
+  }
+  const expectedChunkCount = Math.ceil(frameCount / chunkFrameCount);
+  if (playback.chunks.length !== expectedChunkCount) {
+    throw new M49PhysicalSafetyPlaybackContractError("M49 chunk accounting нарушен.");
+  }
+  const chunks = playback.chunks.map((value, index): ChunkDescriptor => {
+    const row = objectValue(value, `M49 chunk ${index}`);
+    const common = descriptor(value, `${base}/chunks/${index}`, `M49 chunk ${index}`);
+    const start = index * chunkFrameCount;
+    const count = Math.min(chunkFrameCount, frameCount - start);
+    exact(integer(row.index, `M49 chunk ${index}.index`), index, `M49 chunk ${index}.index`);
+    exact(integer(row.start, `M49 chunk ${index}.start`), start, `M49 chunk ${index}.start`);
+    exact(integer(row.count, `M49 chunk ${index}.count`), count, `M49 chunk ${index}.count`);
+    return {
+      ...common,
+      index,
+      start,
+      count,
+      headerBytes: exact(
+        integer(row.header_bytes, `M49 chunk ${index}.header`),
+        CHUNK_HEADER_BYTES,
+        `M49 chunk ${index}.header`,
+      ),
+      format: exact(
+        row.format,
+        "mcpsch01-states-u8-aligned-z-bounds-f32le",
+        `M49 chunk ${index}.format`,
+      ),
+    };
+  });
+  return {
+    resultId,
+    createdAtUtc: text(payload.created_at_utc, "M49 physical-safety created"),
+    sourceResultId: text(identity.source_result_id, "M49 physical-safety source"),
+    frameCount,
+    cellCount,
+    cellSizeM: finiteNumber(playback.cell_size_m, "M49 cell size"),
+    radiusM: finiteNumber(playback.radius_m, "M49 radius"),
+    sourcePaceHz: finiteNumber(playback.source_pace_hz, "M49 source pace"),
+    stateCodes: parseStateCodes(playback.state_codes),
+    chunkFrameCount,
+    startupPrebufferChunkCount,
+    residentChunkCountMax,
+    forwardPrefetchChunkCount,
+    centers,
+    frames,
+    chunks,
+  };
+}
+
+export async function fetchM49PhysicalSafetyPlaybackIdForSource(
+  sourceResultId: string,
+  {
+    fetcher = fetch,
+    signal,
+  }: { fetcher?: LaboratoryFetch; signal?: AbortSignal } = {},
+): Promise<string | null> {
+  if (!SOURCE_RESULT_ID.test(sourceResultId)) {
+    throw new M49PhysicalSafetyPlaybackContractError("M49 source identity недопустима.");
+  }
+  const response = await fetcher(
+    `${ENDPOINT_ROOT}/results?limit=2&source_result_id=${encodeURIComponent(sourceResultId)}`,
+    { method: "GET", headers: { Accept: "application/json" }, signal },
+  );
+  if (!response.ok) {
+    throw new M49PhysicalSafetyPlaybackContractError(
+      `M49 physical-safety catalog недоступен: HTTP ${response.status}.`,
+    );
+  }
+  const payload = objectValue(await response.json(), "M49 physical-safety catalog");
+  exact(
+    payload.schema_version,
+    "missioncore.m49-physical-safety-playback-catalog/v1",
+    "M49 physical-safety catalog schema",
+  );
+  exact(payload.worker_runtime_dependency, false, "M49 physical-safety catalog worker");
+  exact(payload.access, "read-only-sealed-local", "M49 physical-safety catalog access");
+  if (!Array.isArray(payload.items)) {
+    throw new M49PhysicalSafetyPlaybackContractError("M49 physical-safety catalog изменился.");
+  }
+  if (!payload.items.length) return null;
+  if (payload.items.length !== 1) {
+    throw new M49PhysicalSafetyPlaybackContractError(
+      "M49 physical-safety source имеет несколько активных playback artifacts.",
+    );
+  }
+  const item = objectValue(payload.items[0], "M49 physical-safety catalog item");
+  exact(item.source_result_id, sourceResultId, "M49 physical-safety catalog source");
+  exact(item.worker_runtime_dependency, false, "M49 physical-safety item worker");
+  exact(item.navigation_or_safety_accepted, false, "M49 physical-safety item authority");
+  const resultId = text(item.result_id, "M49 physical-safety catalog result");
+  if (!RESULT_ID.test(resultId)) {
+    throw new M49PhysicalSafetyPlaybackContractError(
+      "M49 physical-safety catalog result недопустим.",
+    );
+  }
+  return resultId;
+}
+
+function parseFrames(
+  buffer: ArrayBuffer,
+  frameCount: number,
+): readonly M49PhysicalSafetyPlaybackFrameMetadata[] {
+  const lines = new TextDecoder().decode(buffer).trim().split("\n");
+  if (lines.length !== frameCount) {
+    throw new M49PhysicalSafetyPlaybackContractError("M49 frame catalog изменил размер.");
+  }
+  return lines.map((line, sourceSequence) => {
+    const row = objectValue(JSON.parse(line), `M49 frame ${sourceSequence}`);
+    const metrics: Record<string, number> = {};
+    for (const [name, value] of Object.entries(row)) {
+      if (name.endsWith("_count") && typeof value === "number" && Number.isFinite(value)) {
+        metrics[name] = value;
+      }
+    }
+    return {
+      sourceSequence,
+      sourceFrameIndex: integer(row.source_frame_index, `M49 frame ${sourceSequence}.source`),
+      sessionSeconds: finiteNumber(row.session_seconds, `M49 frame ${sourceSequence}.time`),
+      sampleAvailable: booleanValue(
+        row.sample_available,
+        `M49 frame ${sourceSequence}.available`,
+      ),
+      metrics,
+    };
+  });
+}
+
+function parseChunk(
+  buffer: ArrayBuffer,
+  descriptorValue: ChunkDescriptor,
+  cellCount: number,
+  frames: readonly M49PhysicalSafetyPlaybackFrameMetadata[],
+  admittedStateCodes: ReadonlySet<number>,
+): ResidentChunk {
+  const bytes = new Uint8Array(buffer);
+  if (bytes.byteLength < CHUNK_HEADER_BYTES
+      || new TextDecoder("latin1").decode(bytes.subarray(0, 8)) !== CHUNK_MAGIC) {
+    throw new M49PhysicalSafetyPlaybackContractError("M49 chunk signature изменилась.");
+  }
+  const view = new DataView(buffer);
+  const start = view.getUint32(8, true);
+  const count = view.getUint32(12, true);
+  const cells = view.getUint32(16, true);
+  const stateBytes = view.getUint32(20, true);
+  const zBytes = view.getUint32(24, true);
+  const expectedStateBytes = count * cellCount;
+  const expectedZBytes = count * cellCount * 2 * 4;
+  const zOffset = CHUNK_HEADER_BYTES + stateBytes
+    + ((4 - ((CHUNK_HEADER_BYTES + stateBytes) % 4)) % 4);
+  if (start !== descriptorValue.start
+      || count !== descriptorValue.count
+      || cells !== cellCount
+      || stateBytes !== expectedStateBytes
+      || zBytes !== expectedZBytes
+      || zOffset + zBytes !== bytes.byteLength) {
+    throw new M49PhysicalSafetyPlaybackContractError("M49 chunk layout изменился.");
+  }
+  const states = new Uint8Array(buffer, CHUNK_HEADER_BYTES, stateBytes);
+  const zBoundsM = new Float32Array(buffer, zOffset, count * cellCount * 2);
+  for (let localFrame = 0; localFrame < count; localFrame += 1) {
+    const stateStart = localFrame * cellCount;
+    const zStart = localFrame * cellCount * 2;
+    for (let cell = 0; cell < cellCount; cell += 1) {
+      const state = states[stateStart + cell];
+      if (!admittedStateCodes.has(state)) {
+        throw new M49PhysicalSafetyPlaybackContractError("M49 chunk содержит неизвестный state.");
+      }
+      if (!frames[start + localFrame].sampleAvailable
+          && (state !== 0
+            || Number.isFinite(zBoundsM[zStart + cell * 2])
+            || Number.isFinite(zBoundsM[zStart + cell * 2 + 1]))) {
+        throw new M49PhysicalSafetyPlaybackContractError(
+          "M49 missing sample перестал быть fail-closed.",
+        );
+      }
+    }
+  }
+  return { descriptor: descriptorValue, states, zBoundsM, byteLength: buffer.byteLength };
+}
+
+export class M49PhysicalSafetyPlaybackBuffer {
+  readonly manifest: M49PhysicalSafetyPlaybackManifest;
+  readonly centersXyM: Float32Array;
+  readonly frames: readonly M49PhysicalSafetyPlaybackFrameMetadata[];
+
+  private readonly fetcher: LaboratoryFetch;
+  private readonly signal: AbortSignal | undefined;
+  private readonly onProgress: ((value: M49PhysicalSafetyPlaybackProgress) => void) | undefined;
+  private readonly chunks = new Map<number, ResidentChunk>();
+  private readonly pending = new Map<number, Promise<ResidentChunk>>();
+  private readonly admittedStateCodes: ReadonlySet<number>;
+  private staticBytes: number;
+  private preparedWindowKey: string | null = null;
+  private pendingPrepare: { key: string; promise: Promise<void> } | null = null;
+
+  private constructor(
+    manifest: M49PhysicalSafetyPlaybackManifest,
+    centersXyM: Float32Array,
+    frames: readonly M49PhysicalSafetyPlaybackFrameMetadata[],
+    fetcher: LaboratoryFetch,
+    signal: AbortSignal | undefined,
+    onProgress: ((value: M49PhysicalSafetyPlaybackProgress) => void) | undefined,
+  ) {
+    this.manifest = manifest;
+    this.centersXyM = centersXyM;
+    this.frames = frames;
+    this.fetcher = fetcher;
+    this.signal = signal;
+    this.onProgress = onProgress;
+    this.admittedStateCodes = new Set(Object.values(manifest.stateCodes));
+    this.staticBytes = centersXyM.byteLength + manifest.frames.byteLength;
+  }
+
+  static async open(
+    resultId: string,
+    {
+      fetcher = fetch,
+      signal,
+      onProgress,
+    }: {
+      fetcher?: LaboratoryFetch;
+      signal?: AbortSignal;
+      onProgress?: (value: M49PhysicalSafetyPlaybackProgress) => void;
+    } = {},
+  ): Promise<M49PhysicalSafetyPlaybackBuffer> {
+    onProgress?.({ phase: "manifest", residentChunkIndexes: [], loadedBytes: 0 });
+    const manifest = await fetchManifest(resultId, fetcher, signal);
+    const [centersBuffer, framesBuffer] = await Promise.all([
+      fetchVerified(manifest.centers, fetcher, signal),
+      fetchVerified(manifest.frames, fetcher, signal),
+    ]);
+    onProgress?.({
+      phase: "static",
+      residentChunkIndexes: [],
+      loadedBytes: centersBuffer.byteLength + framesBuffer.byteLength,
+    });
+    const centersXyM = new Float32Array(centersBuffer);
+    const frames = parseFrames(framesBuffer, manifest.frameCount);
+    const playback = new M49PhysicalSafetyPlaybackBuffer(
+      manifest,
+      centersXyM,
+      frames,
+      fetcher,
+      signal,
+      onProgress,
+    );
+    const startupCount = Math.min(
+      manifest.startupPrebufferChunkCount,
+      manifest.chunks.length,
+    );
+    await Promise.all(Array.from(
+      { length: startupCount },
+      (_, index) => playback.loadChunk(index, "prebuffer"),
+    ));
+    playback.emit("ready");
+    return playback;
+  }
+
+  get residentChunkIndexes(): readonly number[] {
+    return [...this.chunks.keys()].sort((left, right) => left - right);
+  }
+
+  get residentByteLength(): number {
+    return this.staticBytes
+      + [...this.chunks.values()].reduce((sum, chunk) => sum + chunk.byteLength, 0);
+  }
+
+  async prepare(sourceSequence: number): Promise<void> {
+    const chunkIndex = this.chunkIndex(sourceSequence);
+    const nextIndex = chunkIndex + this.manifest.forwardPrefetchChunkCount;
+    const indexes = [chunkIndex, nextIndex].filter(
+      (index) => index < this.manifest.chunks.length,
+    );
+    const key = indexes.join(":");
+    if (this.preparedWindowKey === key && indexes.every((index) => this.chunks.has(index))) {
+      return;
+    }
+    if (this.pendingPrepare?.key === key) return this.pendingPrepare.promise;
+    const promise = Promise.all(indexes.map((index) => this.loadChunk(index, "seek")))
+      .then(() => {
+        this.trim(new Set(indexes));
+        this.preparedWindowKey = key;
+        this.emit("seek");
+      })
+      .finally(() => {
+        if (this.pendingPrepare?.key === key) this.pendingPrepare = null;
+      });
+    this.pendingPrepare = { key, promise };
+    return promise;
+  }
+
+  async frame(sourceSequence: number): Promise<M49PhysicalSafetyPlaybackFrame> {
+    const chunkIndex = this.chunkIndex(sourceSequence);
+    const chunk = await this.loadChunk(chunkIndex, "seek");
+    const frame = this.frameFromChunk(sourceSequence, chunk);
+    const nextIndex = chunkIndex + this.manifest.forwardPrefetchChunkCount;
+    if (nextIndex < this.manifest.chunks.length && !this.chunks.has(nextIndex)) {
+      void this.loadChunk(nextIndex, "seek").catch(() => undefined);
+    }
+    return frame;
+  }
+
+  frameIfResident(sourceSequence: number): M49PhysicalSafetyPlaybackFrame | null {
+    const chunkIndex = this.chunkIndex(sourceSequence);
+    const chunk = this.chunks.get(chunkIndex);
+    return chunk ? this.frameFromChunk(sourceSequence, chunk) : null;
+  }
+
+  private frameFromChunk(
+    sourceSequence: number,
+    chunk: ResidentChunk,
+  ): M49PhysicalSafetyPlaybackFrame {
+    const localFrame = sourceSequence - chunk.descriptor.start;
+    const stateOffset = localFrame * this.manifest.cellCount;
+    const zOffset = stateOffset * 2;
+    return {
+      metadata: this.frames[sourceSequence],
+      centersXyM: this.centersXyM,
+      states: chunk.states.subarray(stateOffset, stateOffset + this.manifest.cellCount),
+      zBoundsM: chunk.zBoundsM.subarray(zOffset, zOffset + this.manifest.cellCount * 2),
+      cellSizeM: this.manifest.cellSizeM,
+      radiusM: this.manifest.radiusM,
+    };
+  }
+
+  private chunkIndex(sourceSequence: number): number {
+    if (!Number.isSafeInteger(sourceSequence)
+        || sourceSequence < 0
+        || sourceSequence >= this.manifest.frameCount) {
+      throw new M49PhysicalSafetyPlaybackContractError("M49 source sequence недопустима.");
+    }
+    return Math.floor(sourceSequence / this.manifest.chunkFrameCount);
+  }
+
+  private async loadChunk(
+    index: number,
+    phase: "prebuffer" | "seek",
+  ): Promise<ResidentChunk> {
+    const existing = this.chunks.get(index);
+    if (existing) {
+      this.chunks.delete(index);
+      this.chunks.set(index, existing);
+      return existing;
+    }
+    const inflight = this.pending.get(index);
+    if (inflight) return inflight;
+    const descriptorValue = this.manifest.chunks[index];
+    if (!descriptorValue) {
+      throw new M49PhysicalSafetyPlaybackContractError("M49 chunk отсутствует.");
+    }
+    const promise = fetchVerified(descriptorValue, this.fetcher, this.signal)
+      .then((buffer) => parseChunk(
+        buffer,
+        descriptorValue,
+        this.manifest.cellCount,
+        this.frames,
+        this.admittedStateCodes,
+      ))
+      .then((chunk) => {
+        this.chunks.set(index, chunk);
+        this.trim(new Set([index]));
+        this.emit(phase);
+        return chunk;
+      })
+      .finally(() => this.pending.delete(index));
+    this.pending.set(index, promise);
+    return promise;
+  }
+
+  private trim(protectedIndexes: ReadonlySet<number>): void {
+    while (this.chunks.size > this.manifest.residentChunkCountMax) {
+      const removable = [...this.chunks.keys()].find((index) => !protectedIndexes.has(index));
+      if (removable === undefined) break;
+      this.chunks.delete(removable);
+    }
+  }
+
+  private emit(phase: M49PhysicalSafetyPlaybackProgress["phase"]): void {
+    this.onProgress?.({
+      phase,
+      residentChunkIndexes: this.residentChunkIndexes,
+      loadedBytes: this.residentByteLength,
+    });
+  }
+}

apps/control-station/src/core/laboratory/m49TgsFailClosed.ts

@@ -0,0 +1,349 @@
+import type { LaboratoryFetch } from "./advancedResults";
+
+const RESULT_ID = /^m49-tgs-fail-closed-[a-f0-9]{64}$/;
+
+export type M49TgsProfile = "current_increment" | "causal_rolling_1s";
+export type M49TgsStateCode = 0 | 1 | 2 | 3;
+export type M49TgsPointStateCode = 1 | 2 | 3;
+
+export interface M49TgsAnchorSummary {
+  anchorFrameIndex: number;
+  slot: number;
+  pointCount: number;
+  groundPointCount: number;
+  nongroundPointCount: number;
+  rejectedPointCount: number;
+  groundCellCount: number;
+  nongroundCellCount: number;
+  rejectedCellCount: number;
+  unobservedCellCount: number;
+  allPointsAccounted: true;
+}
+
+export interface M49TgsFailClosedResult {
+  resultId: string;
+  createdAtUtc: string;
+  source: {
+    sourceId: "RAVNOVES00";
+    sourceSessionId: "20260720T065719Z_viewer_live";
+    sourcePackSha256: string;
+    linkedVisualResultId: string;
+    anchorFrameIndices: readonly number[];
+  };
+  configuration: {
+    profileId: string;
+    configSha256: string;
+    coordinateFrame: "map-gravity-local";
+    primaryProfile: "causal_rolling_1s";
+    cellSizeM: number;
+    radiusM: number;
+  };
+  execution: {
+    worker: "Worker 006";
+    device: "cpu";
+    gpuUsed: false;
+    wrapperElapsedSeconds: number;
+  };
+  metrics: {
+    anchorCount: number;
+    anchorProfileCount: number;
+    allEligiblePointsAccounted: true;
+    costmapCellCount: number;
+    processWallCurrentP50Ms: number;
+    processWallCurrentMaxMs: number;
+    processWallRollingP50Ms: number;
+    processWallRollingMaxMs: number;
+    processMaxRssKib: number;
+    primary: readonly M49TgsAnchorSummary[];
+  };
+  acceptance: {
+    representationComplete: true;
+    allPointsAccounted: true;
+    aosAbsent: true;
+    gpuAbsent: true;
+    visualQualityAccepted: false;
+    traversabilityAccepted: false;
+  };
+  decision: {
+    state: "visual-review-required";
+    candidateRetained: true;
+    nextAction: string;
+  };
+  limitations: readonly string[];
+}
+
+export interface M49TgsAnchorSpatial {
+  resultId: string;
+  anchorFrameIndex: number;
+  sourceSequence: number;
+  profile: M49TgsProfile;
+  coordinateFrame: "map-gravity-local";
+  pointsXyzM: readonly (readonly [number, number, number])[];
+  pointStates: readonly M49TgsPointStateCode[];
+  costmap: {
+    cellSizeM: number;
+    radiusM: number;
+    centersXyM: readonly (readonly [number, number])[];
+    states: readonly M49TgsStateCode[];
+    zBoundsM: readonly (readonly [number | null, number | null])[];
+  };
+  allPointsAccounted: true;
+  aosUsed: false;
+}
+
+export class M49TgsContractError extends Error {}
+
+function objectValue(value: unknown, label: string): Record<string, unknown> {
+  if (!value || typeof value !== "object" || Array.isArray(value)) {
+    throw new M49TgsContractError(`${label}: ожидался объект.`);
+  }
+  return value as Record<string, unknown>;
+}
+
+function text(value: unknown, label: string): string {
+  if (typeof value !== "string" || !value.trim()) {
+    throw new M49TgsContractError(`${label}: ожидалась строка.`);
+  }
+  return value;
+}
+
+function exact<T extends string | boolean>(value: unknown, expected: T, label: string): T {
+  if (value !== expected) throw new M49TgsContractError(`${label}: нарушен контракт.`);
+  return expected;
+}
+
+function numberValue(value: unknown, label: string): number {
+  if (typeof value !== "number" || !Number.isFinite(value)) {
+    throw new M49TgsContractError(`${label}: ожидалось число.`);
+  }
+  return value;
+}
+
+function integer(value: unknown, label: string): number {
+  const parsed = numberValue(value, label);
+  if (!Number.isSafeInteger(parsed) || parsed < 0) {
+    throw new M49TgsContractError(`${label}: ожидалось целое число.`);
+  }
+  return parsed;
+}
+
+function sha256(value: unknown, label: string): string {
+  const parsed = text(value, label);
+  if (!/^[a-f0-9]{64}$/.test(parsed)) {
+    throw new M49TgsContractError(`${label}: неверный SHA-256.`);
+  }
+  return parsed;
+}
+
+function resultId(value: unknown): string {
+  const parsed = text(value, "M49 result id");
+  if (!RESULT_ID.test(parsed)) throw new M49TgsContractError("M49 identity недопустима.");
+  return parsed;
+}
+
+function numbers(value: unknown, size: number, label: string): number[] {
+  if (!Array.isArray(value) || value.length !== size) {
+    throw new M49TgsContractError(`${label}: неверная размерность.`);
+  }
+  return value.map((item) => numberValue(item, label));
+}
+
+function anchor(value: unknown, label: string): M49TgsAnchorSummary {
+  const row = objectValue(value, label);
+  exact(row.profile_id, "causal_rolling_1s", `${label}.profile`);
+  exact(row.all_points_accounted, true, `${label}.accounting`);
+  const parsed: M49TgsAnchorSummary = {
+    anchorFrameIndex: integer(row.anchor_frame_index, `${label}.anchor`),
+    slot: integer(row.slot, `${label}.slot`),
+    pointCount: integer(row.point_count, `${label}.points`),
+    groundPointCount: integer(row.ground_point_count, `${label}.ground points`),
+    nongroundPointCount: integer(row.nonground_point_count, `${label}.nonground points`),
+    rejectedPointCount: integer(row.rejected_point_count, `${label}.rejected points`),
+    groundCellCount: integer(row.ground_cell_count, `${label}.ground cells`),
+    nongroundCellCount: integer(row.nonground_cell_count, `${label}.nonground cells`),
+    rejectedCellCount: integer(row.rejected_cell_count, `${label}.rejected cells`),
+    unobservedCellCount: integer(row.unobserved_cell_count, `${label}.unobserved cells`),
+    allPointsAccounted: true,
+  };
+  if (
+    parsed.groundPointCount + parsed.nongroundPointCount + parsed.rejectedPointCount
+      !== parsed.pointCount
+    || parsed.groundCellCount + parsed.nongroundCellCount
+      + parsed.rejectedCellCount + parsed.unobservedCellCount !== 2244
+  ) {
+    throw new M49TgsContractError(`${label}: fail-closed accounting нарушен.`);
+  }
+  return parsed;
+}
+
+export async function fetchM49TgsFailClosedResult(
+  id: string,
+  { fetcher = fetch, signal }: { fetcher?: LaboratoryFetch; signal?: AbortSignal } = {},
+): Promise<M49TgsFailClosedResult> {
+  if (!RESULT_ID.test(id)) throw new M49TgsContractError("M49 identity недопустима.");
+  const response = await fetcher(
+    `/api/v1/laboratory/m49/tgs-fail-closed/${encodeURIComponent(id)}`,
+    { method: "GET", headers: { Accept: "application/json" }, signal },
+  );
+  if (!response.ok) throw new M49TgsContractError(`M49 TGS недоступен: HTTP ${response.status}.`);
+  const payload = objectValue(await response.json(), "M49 TGS");
+  exact(payload.schema_version, "missioncore.m49-tgs-fail-closed-view/v1", "M49 schema");
+  exact(payload.result_id, id, "M49 result");
+  exact(payload.ground_truth, false, "M49 ground truth");
+  exact(payload.access, "read-only", "M49 access");
+  const source = objectValue(payload.source, "M49 source");
+  const configuration = objectValue(payload.configuration, "M49 configuration");
+  const execution = objectValue(payload.execution, "M49 execution");
+  const metrics = objectValue(payload.metrics, "M49 metrics");
+  const acceptance = objectValue(payload.acceptance, "M49 acceptance");
+  const decision = objectValue(payload.decision, "M49 decision");
+  if (!Array.isArray(source.anchor_frame_indices) || !Array.isArray(metrics.primary)) {
+    throw new M49TgsContractError("M49 anchors: ожидался массив.");
+  }
+  if (!Array.isArray(payload.limitations)) {
+    throw new M49TgsContractError("M49 limitations: ожидался массив.");
+  }
+  const anchorFrameIndices = source.anchor_frame_indices.map(
+    (item, index) => integer(item, `M49 anchor ${index}`),
+  );
+  const primary = metrics.primary.map((item, index) => anchor(item, `M49 primary ${index}`));
+  if (
+    anchorFrameIndices.length !== 10
+    || new Set(anchorFrameIndices).size !== 10
+    || primary.length !== 10
+    || integer(metrics.anchor_count, "M49 anchor count") !== 10
+    || integer(metrics.anchor_profile_count, "M49 profile count") !== 20
+    || integer(metrics.costmap_cell_count, "M49 costmap cells") !== 2244
+    || primary.some((item, index) => item.anchorFrameIndex !== anchorFrameIndices[index])
+  ) {
+    throw new M49TgsContractError("M49 anchor set или costmap contract нарушен.");
+  }
+  return {
+    resultId: resultId(payload.result_id),
+    createdAtUtc: text(payload.created_at_utc, "M49 created"),
+    source: {
+      sourceId: exact(source.source_id, "RAVNOVES00", "M49 source id"),
+      sourceSessionId: exact(
+        source.source_session_id,
+        "20260720T065719Z_viewer_live",
+        "M49 source session",
+      ),
+      sourcePackSha256: sha256(source.source_pack_sha256, "M49 source pack"),
+      linkedVisualResultId: text(source.linked_visual_result_id, "M49 visual result"),
+      anchorFrameIndices,
+    },
+    configuration: {
+      profileId: text(configuration.profile_id, "M49 profile"),
+      configSha256: sha256(configuration.config_sha256, "M49 config"),
+      coordinateFrame: exact(configuration.coordinate_frame, "map-gravity-local", "M49 frame"),
+      primaryProfile: exact(configuration.primary_profile, "causal_rolling_1s", "M49 primary"),
+      cellSizeM: numberValue(configuration.cell_size_m, "M49 cell size"),
+      radiusM: numberValue(configuration.radius_m, "M49 radius"),
+    },
+    execution: {
+      worker: exact(execution.worker, "Worker 006", "M49 worker"),
+      device: exact(execution.device, "cpu", "M49 device"),
+      gpuUsed: exact(execution.gpu_used, false, "M49 GPU"),
+      wrapperElapsedSeconds: numberValue(execution.wrapper_elapsed_seconds, "M49 wall"),
+    },
+    metrics: {
+      anchorCount: 10,
+      anchorProfileCount: 20,
+      allEligiblePointsAccounted: exact(metrics.all_eligible_points_accounted, true, "M49 accounting"),
+      costmapCellCount: 2244,
+      processWallCurrentP50Ms: numberValue(metrics.process_wall_current_p50_ms, "M49 current p50"),
+      processWallCurrentMaxMs: numberValue(metrics.process_wall_current_max_ms, "M49 current max"),
+      processWallRollingP50Ms: numberValue(metrics.process_wall_rolling_p50_ms, "M49 rolling p50"),
+      processWallRollingMaxMs: numberValue(metrics.process_wall_rolling_max_ms, "M49 rolling max"),
+      processMaxRssKib: integer(metrics.process_max_rss_kib, "M49 RSS"),
+      primary,
+    },
+    acceptance: {
+      representationComplete: exact(acceptance.representation_complete, true, "M49 representation"),
+      allPointsAccounted: exact(acceptance.all_points_accounted, true, "M49 points"),
+      aosAbsent: exact(acceptance.aos_absent, true, "M49 AOS"),
+      gpuAbsent: exact(acceptance.gpu_absent, true, "M49 GPU absent"),
+      visualQualityAccepted: exact(acceptance.visual_quality_accepted, false, "M49 visual quality"),
+      traversabilityAccepted: exact(acceptance.traversability_accepted, false, "M49 traversability"),
+    },
+    decision: {
+      state: exact(decision.state, "visual-review-required", "M49 decision"),
+      candidateRetained: exact(decision.candidate_retained, true, "M49 retained"),
+      nextAction: text(decision.next_action, "M49 next action"),
+    },
+    limitations: payload.limitations.map((item, index) => text(item, `M49 limitation ${index}`)),
+  };
+}
+
+export async function fetchM49TgsAnchorSpatial(
+  id: string,
+  anchorFrameIndex: number,
+  profile: M49TgsProfile = "causal_rolling_1s",
+  { fetcher = fetch, signal }: { fetcher?: LaboratoryFetch; signal?: AbortSignal } = {},
+): Promise<M49TgsAnchorSpatial> {
+  if (!RESULT_ID.test(id) || !Number.isSafeInteger(anchorFrameIndex) || anchorFrameIndex < 0) {
+    throw new M49TgsContractError("M49 anchor identity недопустима.");
+  }
+  const response = await fetcher(
+    `/api/v1/laboratory/m49/tgs-fail-closed/${encodeURIComponent(id)}/anchors/${anchorFrameIndex}/spatial?profile=${encodeURIComponent(profile)}`,
+    { method: "GET", headers: { Accept: "application/json" }, signal },
+  );
+  if (!response.ok) throw new M49TgsContractError(`M49 anchor недоступен: HTTP ${response.status}.`);
+  const payload = objectValue(await response.json(), "M49 anchor");
+  exact(payload.schema_version, "missioncore.m49-tgs-anchor-spatial/v1", "M49 anchor schema");
+  exact(payload.result_id, id, "M49 anchor result");
+  exact(payload.coordinate_frame, "map-gravity-local", "M49 anchor frame");
+  exact(payload.all_points_accounted, true, "M49 anchor accounting");
+  exact(payload.aos_used, false, "M49 anchor AOS");
+  if (!Array.isArray(payload.points_xyz_m) || !Array.isArray(payload.point_states)) {
+    throw new M49TgsContractError("M49 points: ожидался массив.");
+  }
+  const costmap = objectValue(payload.costmap, "M49 costmap");
+  if (!Array.isArray(costmap.centers_xy_m) || !Array.isArray(costmap.states) || !Array.isArray(costmap.z_bounds_m)) {
+    throw new M49TgsContractError("M49 costmap arrays: нарушен контракт.");
+  }
+  const points = payload.points_xyz_m.map((item, index) => numbers(item, 3, `M49 point ${index}`) as [number, number, number]);
+  const pointStates = payload.point_states.map((item, index) => {
+    const state = integer(item, `M49 point state ${index}`);
+    if (state !== 1 && state !== 2 && state !== 3) throw new M49TgsContractError("M49 point state неизвестен.");
+    return state;
+  });
+  if (points.length !== pointStates.length) throw new M49TgsContractError("M49 point accounting нарушен.");
+  const centers = costmap.centers_xy_m.map((item, index) => numbers(item, 2, `M49 cell ${index}`) as [number, number]);
+  const states = costmap.states.map((item, index) => {
+    const state = integer(item, `M49 cell state ${index}`);
+    if (state !== 0 && state !== 1 && state !== 2 && state !== 3) throw new M49TgsContractError("M49 cell state неизвестен.");
+    return state;
+  });
+  const zBounds = costmap.z_bounds_m.map((item, index) => {
+    if (!Array.isArray(item) || item.length !== 2) throw new M49TgsContractError(`M49 z ${index}: размерность.`);
+    return item.map((value) => value === null ? null : numberValue(value, `M49 z ${index}`)) as [number | null, number | null];
+  });
+  if (
+    centers.length !== 2244
+    || centers.length !== states.length
+    || centers.length !== zBounds.length
+    || integer(payload.anchor_frame_index, "M49 anchor frame") !== anchorFrameIndex
+    || integer(payload.source_sequence, "M49 source sequence") !== anchorFrameIndex
+  ) {
+    throw new M49TgsContractError("M49 costmap accounting нарушен.");
+  }
+  return {
+    resultId: id,
+    anchorFrameIndex,
+    sourceSequence: anchorFrameIndex,
+    profile: exact(payload.profile, profile, "M49 profile"),
+    coordinateFrame: "map-gravity-local",
+    pointsXyzM: points,
+    pointStates,
+    costmap: {
+      cellSizeM: numberValue(costmap.cell_size_m, "M49 cell size"),
+      radiusM: numberValue(costmap.radius_m, "M49 radius"),
+      centersXyM: centers,
+      states,
+      zBoundsM: zBounds,
+    },
+    allPointsAccounted: true,
+    aosUsed: false,
+  };
+}

apps/control-station/src/core/laboratory/m49TgsFullShadow.ts

@@ -0,0 +1,658 @@
+import type { LaboratoryFetch } from "./advancedResults";
+
+const RESULT_ID = /^m49-tgs-full-shadow-[a-f0-9]{64}$/;
+const SEMANTIC_RESULT_ID = /^e47-semantic-slam-[a-f0-9]{64}$/;
+
+export type M49TgsFullShadowStateCode = 0 | 1 | 2 | 3;
+
+export interface M49TgsFullShadowResult {
+  resultId: string;
+  createdAtUtc: string;
+  source: {
+    sourcePackSha256: string;
+    linkedVisualResultId: string;
+    linkedSemanticResultId: string;
+  };
+  configuration: {
+    configSha256: string;
+    cellSizeM: number;
+    radiusM: number;
+    historySeconds: number;
+  };
+  execution: {
+    wrapperElapsedSeconds: number;
+  };
+  timeline: {
+    frameCount: 4489;
+    availableLidarFrameCount: 3928;
+    missingLidarFrameCount: 561;
+    durationSeconds: number;
+    effectiveFps: number;
+  };
+  pointAccounting: {
+    eligible: number;
+    ground: number;
+    nonground: number;
+    rejected: number;
+    unaccounted: 0;
+  };
+  performance: {
+    candidateTgsMs: { p50: number; p95: number; p99: number; max: number };
+    completionAgeMs: { p50: number; p95: number; p99: number; max: number };
+    capacityDropCount: number;
+  };
+  acceptance: {
+    representationComplete: true;
+    visualQualityAccepted: false;
+    integratedGraphPerformanceAccepted: false;
+    allFramesAccounted: boolean;
+    allEligiblePointsAccounted: boolean;
+  };
+  decision: {
+    state: string;
+    candidateRetained: boolean;
+    nextAction: string;
+  };
+}
+
+export interface M49TgsFullShadowSpatial {
+  resultId: string;
+  sourceSequence: number;
+  sourceFrameIndex: number;
+  sessionSeconds: number;
+  sampleAvailable: boolean;
+  costmap: {
+    cellSizeM: number;
+    radiusM: number;
+    centersXyM: readonly (readonly [number, number])[];
+    states: readonly M49TgsFullShadowStateCode[];
+    zBoundsM: readonly (readonly [number | null, number | null])[];
+  };
+  metrics: {
+    eligiblePointCount: number;
+    groundPointCount: number;
+    nongroundPointCount: number;
+    rejectedPointCount: number;
+    occupiedCellCount: number;
+  };
+}
+
+export interface M49TgsFullShadowSpatialChunk {
+  resultId: string;
+  start: number;
+  count: number;
+  frames: readonly M49TgsFullShadowSpatial[];
+}
+
+export type M49TgsFullShadowPlaybackTrackId =
+  | "frames"
+  | "centers"
+  | "states"
+  | "z-bounds";
+
+export interface M49TgsFullShadowPlaybackProgress {
+  phase: "manifest" | "download" | "verify" | "ready";
+  trackId: M49TgsFullShadowPlaybackTrackId | null;
+  loadedBytes: number;
+  totalBytes: number;
+}
+
+interface M49TgsFullShadowPlaybackTrack {
+  id: M49TgsFullShadowPlaybackTrackId;
+  url: string;
+  mediaType: string;
+  dtype: "ndjson" | "<f4" | "|u1";
+  shape: readonly number[];
+  byteLength: number;
+  sha256: string;
+}
+
+export interface M49TgsFullShadowPlaybackFrame {
+  sourceSequence: number;
+  sourceFrameIndex: number;
+  sessionSeconds: number;
+  sampleAvailable: boolean;
+  metrics: M49TgsFullShadowSpatial["metrics"];
+}
+
+export interface M49TgsFullShadowPlaybackPack {
+  resultId: string;
+  frameCount: 4489;
+  cellCount: 2244;
+  totalByteLength: number;
+  centersXyM: Float32Array;
+  states: Uint8Array;
+  zBoundsM: Float32Array;
+  frames: readonly M49TgsFullShadowPlaybackFrame[];
+}
+
+export class M49TgsFullShadowContractError extends Error {}
+
+function objectValue(value: unknown, label: string): Record<string, unknown> {
+  if (!value || typeof value !== "object" || Array.isArray(value)) {
+    throw new M49TgsFullShadowContractError(`${label}: ожидался объект.`);
+  }
+  return value as Record<string, unknown>;
+}
+
+function text(value: unknown, label: string): string {
+  if (typeof value !== "string" || !value.trim()) {
+    throw new M49TgsFullShadowContractError(`${label}: ожидалась строка.`);
+  }
+  return value;
+}
+
+function numberValue(value: unknown, label: string): number {
+  if (typeof value !== "number" || !Number.isFinite(value)) {
+    throw new M49TgsFullShadowContractError(`${label}: ожидалось число.`);
+  }
+  return value;
+}
+
+function integer(value: unknown, label: string): number {
+  const parsed = numberValue(value, label);
+  if (!Number.isSafeInteger(parsed) || parsed < 0) {
+    throw new M49TgsFullShadowContractError(`${label}: ожидалось целое число.`);
+  }
+  return parsed;
+}
+
+function booleanValue(value: unknown, label: string): boolean {
+  if (typeof value !== "boolean") {
+    throw new M49TgsFullShadowContractError(`${label}: ожидался boolean.`);
+  }
+  return value;
+}
+
+function exact<T extends string | boolean | number>(value: unknown, expected: T, label: string): T {
+  if (value !== expected) throw new M49TgsFullShadowContractError(`${label}: нарушен контракт.`);
+  return expected;
+}
+
+function timing(value: unknown, label: string) {
+  const row = objectValue(value, label);
+  return {
+    p50: numberValue(row.p50, `${label}.p50`),
+    p95: numberValue(row.p95, `${label}.p95`),
+    p99: numberValue(row.p99, `${label}.p99`),
+    max: numberValue(row.max, `${label}.max`),
+  };
+}
+
+export async function fetchM49TgsFullShadowResult(
+  id: string,
+  { fetcher = fetch, signal }: { fetcher?: LaboratoryFetch; signal?: AbortSignal } = {},
+): Promise<M49TgsFullShadowResult> {
+  if (!RESULT_ID.test(id)) throw new M49TgsFullShadowContractError("M49 full-shadow identity недопустима.");
+  const response = await fetcher(
+    `/api/v1/laboratory/m49/tgs-full-shadow/${encodeURIComponent(id)}`,
+    { method: "GET", headers: { Accept: "application/json" }, signal },
+  );
+  if (!response.ok) throw new M49TgsFullShadowContractError(`M49 full shadow недоступен: HTTP ${response.status}.`);
+  const payload = objectValue(await response.json(), "M49 full shadow");
+  exact(payload.schema_version, "missioncore.m49-tgs-full-shadow-view/v1", "M49 full schema");
+  exact(payload.result_id, id, "M49 full result");
+  exact(payload.ground_truth, false, "M49 full ground truth");
+  exact(payload.access, "read-only", "M49 full access");
+  const source = objectValue(payload.source, "M49 full source");
+  const configuration = objectValue(payload.configuration, "M49 full configuration");
+  const execution = objectValue(payload.execution, "M49 full execution");
+  const timeline = objectValue(payload.timeline, "M49 full timeline");
+  const accounting = objectValue(payload.point_accounting, "M49 full accounting");
+  const performance = objectValue(payload.performance, "M49 full performance");
+  const acceptance = objectValue(payload.acceptance, "M49 full acceptance");
+  const decision = objectValue(payload.decision, "M49 full decision");
+  const linkedSemanticResultId = text(
+    source.linked_semantic_result_id,
+    "M49 full semantic result",
+  );
+  if (!SEMANTIC_RESULT_ID.test(linkedSemanticResultId)) {
+    throw new M49TgsFullShadowContractError("M49 full semantic result: нарушена идентичность.");
+  }
+  return {
+    resultId: text(payload.result_id, "M49 full result"),
+    createdAtUtc: text(payload.created_at_utc, "M49 full created"),
+    source: {
+      sourcePackSha256: text(source.source_pack_sha256, "M49 full source pack"),
+      linkedVisualResultId: text(source.linked_visual_result_id, "M49 full visual result"),
+      linkedSemanticResultId,
+    },
+    configuration: {
+      configSha256: text(configuration.config_sha256, "M49 full config"),
+      cellSizeM: numberValue(configuration.cell_size_m, "M49 full cell size"),
+      radiusM: numberValue(configuration.radius_m, "M49 full radius"),
+      historySeconds: numberValue(configuration.history_seconds, "M49 full history"),
+    },
+    execution: { wrapperElapsedSeconds: numberValue(execution.wrapper_elapsed_seconds, "M49 full wall") },
+    timeline: {
+      frameCount: exact(integer(timeline.frame_count, "M49 full frames"), 4489, "M49 full frames"),
+      availableLidarFrameCount: exact(integer(timeline.available_lidar_frame_count, "M49 full available"), 3928, "M49 full available"),
+      missingLidarFrameCount: exact(integer(timeline.missing_lidar_frame_count, "M49 full missing"), 561, "M49 full missing"),
+      durationSeconds: numberValue(timeline.duration_seconds, "M49 full duration"),
+      effectiveFps: numberValue(timeline.effective_fps, "M49 full fps"),
+    },
+    pointAccounting: {
+      eligible: integer(accounting.eligible, "M49 full eligible"),
+      ground: integer(accounting.ground, "M49 full ground"),
+      nonground: integer(accounting.nonground, "M49 full nonground"),
+      rejected: integer(accounting.rejected, "M49 full rejected"),
+      unaccounted: exact(integer(accounting.unaccounted, "M49 full unaccounted"), 0, "M49 full unaccounted"),
+    },
+    performance: {
+      candidateTgsMs: timing(performance.candidate_tgs_ms, "M49 full TGS"),
+      completionAgeMs: timing(performance.completion_age_ms, "M49 full completion"),
+      capacityDropCount: integer(performance.capacity_drop_count, "M49 full drops"),
+    },
+    acceptance: {
+      representationComplete: exact(acceptance.representation_complete, true, "M49 full representation"),
+      visualQualityAccepted: exact(acceptance.visual_quality_accepted, false, "M49 full visual"),
+      integratedGraphPerformanceAccepted: exact(acceptance.integrated_graph_performance_accepted, false, "M49 full integrated"),
+      allFramesAccounted: booleanValue(acceptance.all_frames_accounted, "M49 full frame accounting"),
+      allEligiblePointsAccounted: booleanValue(acceptance.all_eligible_points_accounted, "M49 full point accounting"),
+    },
+    decision: {
+      state: text(decision.state, "M49 full decision"),
+      candidateRetained: booleanValue(decision.candidate_retained, "M49 full retained"),
+      nextAction: text(decision.next_action, "M49 full next action"),
+    },
+  };
+}
+
+function pair(value: unknown, label: string): readonly [number, number] {
+  if (!Array.isArray(value) || value.length !== 2) {
+    throw new M49TgsFullShadowContractError(`${label}: неверная размерность.`);
+  }
+  return [numberValue(value[0], label), numberValue(value[1], label)];
+}
+
+function parseSpatial(
+  id: string,
+  sourceSequence: number,
+  payload: Record<string, unknown>,
+  sharedCostmap?: Record<string, unknown>,
+): M49TgsFullShadowSpatial {
+  exact(payload.source_sequence, sourceSequence, "M49 full spatial sequence");
+  const costmap = sharedCostmap ?? objectValue(payload.costmap, "M49 full costmap");
+  const metrics = objectValue(payload.metrics, "M49 full frame metrics");
+  const centers = costmap.centers_xy_m;
+  const statesRaw = sharedCostmap ? payload.states : costmap.states;
+  const zBoundsRaw = sharedCostmap ? payload.z_bounds_m : costmap.z_bounds_m;
+  if (!Array.isArray(centers) || !Array.isArray(statesRaw) || !Array.isArray(zBoundsRaw)
+      || centers.length !== 2244 || statesRaw.length !== 2244 || zBoundsRaw.length !== 2244) {
+    throw new M49TgsFullShadowContractError("M49 full costmap: неверная размерность.");
+  }
+  const states = statesRaw.map((value, index) => {
+    const parsed = integer(value, `M49 full state ${index}`);
+    if (parsed > 3) throw new M49TgsFullShadowContractError("M49 full state недопустим.");
+    return parsed as M49TgsFullShadowStateCode;
+  });
+  const zBounds = zBoundsRaw.map((value, index) => {
+    if (!Array.isArray(value) || value.length !== 2) {
+      throw new M49TgsFullShadowContractError(`M49 full z ${index}: неверная размерность.`);
+    }
+    return value.map((item) => item === null
+      ? null
+      : numberValue(item, `M49 full z ${index}`)) as [number | null, number | null];
+  });
+  const sampleAvailable = booleanValue(payload.sample_available, "M49 full sample available");
+  if (!sampleAvailable && states.some((state) => state !== 0)) {
+    throw new M49TgsFullShadowContractError("M49 missing LiDAR frame не остался UNOBSERVED.");
+  }
+  return {
+    resultId: id,
+    sourceSequence,
+    sourceFrameIndex: integer(payload.source_frame_index, "M49 full source frame"),
+    sessionSeconds: numberValue(payload.session_seconds, "M49 full session seconds"),
+    sampleAvailable,
+    costmap: {
+      cellSizeM: numberValue(costmap.cell_size_m, "M49 full cell size"),
+      radiusM: numberValue(costmap.radius_m, "M49 full radius"),
+      centersXyM: centers.map((value, index) => pair(value, `M49 full center ${index}`)),
+      states,
+      zBoundsM: zBounds,
+    },
+    metrics: {
+      eligiblePointCount: integer(metrics.eligible_point_count, "M49 full eligible"),
+      groundPointCount: integer(metrics.ground_point_count, "M49 full ground"),
+      nongroundPointCount: integer(metrics.nonground_point_count, "M49 full nonground"),
+      rejectedPointCount: integer(metrics.rejected_point_count, "M49 full rejected"),
+      occupiedCellCount: integer(metrics.occupied_cell_count, "M49 full occupied cells"),
+    },
+  };
+}
+
+export async function fetchM49TgsFullShadowSpatial(
+  id: string,
+  sourceSequence: number,
+  { fetcher = fetch, signal }: { fetcher?: LaboratoryFetch; signal?: AbortSignal } = {},
+): Promise<M49TgsFullShadowSpatial> {
+  if (!RESULT_ID.test(id) || !Number.isSafeInteger(sourceSequence) || sourceSequence < 0 || sourceSequence >= 4489) {
+    throw new M49TgsFullShadowContractError("M49 full-shadow frame identity недопустима.");
+  }
+  const response = await fetcher(
+    `/api/v1/laboratory/m49/tgs-full-shadow/${encodeURIComponent(id)}/frames/${sourceSequence}/spatial`,
+    { method: "GET", headers: { Accept: "application/json" }, signal },
+  );
+  if (!response.ok) throw new M49TgsFullShadowContractError(`M49 full-shadow frame недоступен: HTTP ${response.status}.`);
+  const payload = objectValue(await response.json(), "M49 full spatial");
+  exact(payload.schema_version, "missioncore.m49-tgs-full-shadow-spatial/v1", "M49 full spatial schema");
+  exact(payload.result_id, id, "M49 full spatial result");
+  return parseSpatial(id, sourceSequence, payload);
+}
+
+export async function fetchM49TgsFullShadowSpatialChunk(
+  id: string,
+  start: number,
+  count = 24,
+  { fetcher = fetch, signal }: { fetcher?: LaboratoryFetch; signal?: AbortSignal } = {},
+): Promise<M49TgsFullShadowSpatialChunk> {
+  if (!RESULT_ID.test(id) || !Number.isSafeInteger(start) || start < 0 || start >= 4489
+      || !Number.isSafeInteger(count) || count < 1 || count > 24) {
+    throw new M49TgsFullShadowContractError("M49 full-shadow chunk identity недопустима.");
+  }
+  const response = await fetcher(
+    `/api/v1/laboratory/m49/tgs-full-shadow/${encodeURIComponent(id)}/spatial/chunk?start=${start}&count=${count}`,
+    { method: "GET", headers: { Accept: "application/json" }, signal },
+  );
+  if (!response.ok) throw new M49TgsFullShadowContractError(`M49 full-shadow chunk недоступен: HTTP ${response.status}.`);
+  const payload = objectValue(await response.json(), "M49 full spatial chunk");
+  exact(payload.schema_version, "missioncore.m49-tgs-full-shadow-spatial-chunk/v1", "M49 full chunk schema");
+  exact(payload.result_id, id, "M49 full chunk result");
+  exact(payload.start, start, "M49 full chunk start");
+  const returnedCount = integer(payload.count, "M49 full chunk count");
+  if (!Array.isArray(payload.frames) || payload.frames.length !== returnedCount
+      || returnedCount !== Math.min(count, 4489 - start)) {
+    throw new M49TgsFullShadowContractError("M49 full chunk: неверная размерность.");
+  }
+  const costmap = objectValue(payload.costmap, "M49 full chunk costmap");
+  return {
+    resultId: id,
+    start,
+    count: returnedCount,
+    frames: payload.frames.map((value, index) => parseSpatial(
+      id,
+      start + index,
+      objectValue(value, `M49 full chunk frame ${index}`),
+      costmap,
+    )),
+  };
+}
+
+function playbackTrackId(value: unknown, label: string): M49TgsFullShadowPlaybackTrackId {
+  const parsed = text(value, label);
+  if (parsed !== "frames" && parsed !== "centers" && parsed !== "states" && parsed !== "z-bounds") {
+    throw new M49TgsFullShadowContractError(`${label}: неизвестная playback-дорожка.`);
+  }
+  return parsed;
+}
+
+function playbackDtype(value: unknown, label: string): M49TgsFullShadowPlaybackTrack["dtype"] {
+  const parsed = text(value, label);
+  if (parsed !== "ndjson" && parsed !== "<f4" && parsed !== "|u1") {
+    throw new M49TgsFullShadowContractError(`${label}: неизвестный dtype.`);
+  }
+  return parsed;
+}
+
+function playbackShape(value: unknown, label: string): readonly number[] {
+  if (!Array.isArray(value) || !value.length) {
+    throw new M49TgsFullShadowContractError(`${label}: ожидалась размерность.`);
+  }
+  return value.map((item, index) => integer(item, `${label}.${index}`));
+}
+
+async function fetchPlaybackManifest(
+  id: string,
+  fetcher: LaboratoryFetch,
+  signal: AbortSignal | undefined,
+): Promise<{
+  frameCount: 4489;
+  cellCount: 2244;
+  totalByteLength: number;
+  tracks: ReadonlyMap<M49TgsFullShadowPlaybackTrackId, M49TgsFullShadowPlaybackTrack>;
+}> {
+  const response = await fetcher(
+    `/api/v1/laboratory/m49/tgs-full-shadow/${encodeURIComponent(id)}/playback/manifest`,
+    { method: "GET", headers: { Accept: "application/json" }, signal },
+  );
+  if (!response.ok) {
+    throw new M49TgsFullShadowContractError(`M49 playback manifest недоступен: HTTP ${response.status}.`);
+  }
+  const payload = objectValue(await response.json(), "M49 playback manifest");
+  exact(payload.schema_version, "missioncore.m49-tgs-full-shadow-playback/v1", "M49 playback schema");
+  exact(payload.result_id, id, "M49 playback result");
+  exact(payload.coordinate_frame, "map-gravity-local", "M49 playback frame");
+  exact(payload.access, "read-only", "M49 playback access");
+  const frameCount = exact(integer(payload.frame_count, "M49 playback frames"), 4489, "M49 playback frames");
+  const cellCount = exact(integer(payload.cell_count, "M49 playback cells"), 2244, "M49 playback cells");
+  const totalByteLength = integer(payload.total_byte_length, "M49 playback bytes");
+  if (!Array.isArray(payload.tracks) || payload.tracks.length !== 4) {
+    throw new M49TgsFullShadowContractError("M49 playback tracks: неверная размерность.");
+  }
+  const tracks = new Map<M49TgsFullShadowPlaybackTrackId, M49TgsFullShadowPlaybackTrack>();
+  for (const [index, value] of payload.tracks.entries()) {
+    const row = objectValue(value, `M49 playback track ${index}`);
+    const trackId = playbackTrackId(row.id, `M49 playback track ${index}.id`);
+    const sha256 = text(row.sha256, `M49 playback track ${trackId}.sha256`);
+    if (!/^[a-f0-9]{64}$/.test(sha256) || tracks.has(trackId)) {
+      throw new M49TgsFullShadowContractError(`M49 playback track ${trackId}: нарушена идентичность.`);
+    }
+    tracks.set(trackId, {
+      id: trackId,
+      url: text(row.url, `M49 playback track ${trackId}.url`),
+      mediaType: text(row.media_type, `M49 playback track ${trackId}.media_type`),
+      dtype: playbackDtype(row.dtype, `M49 playback track ${trackId}.dtype`),
+      shape: playbackShape(row.shape, `M49 playback track ${trackId}.shape`),
+      byteLength: integer(row.byte_length, `M49 playback track ${trackId}.byte_length`),
+      sha256,
+    });
+  }
+  if ([...tracks.values()].reduce((sum, track) => sum + track.byteLength, 0) !== totalByteLength) {
+    throw new M49TgsFullShadowContractError("M49 playback bytes: нарушен accounting.");
+  }
+  return { frameCount, cellCount, totalByteLength, tracks };
+}
+
+function sha256Hex(buffer: ArrayBuffer): Promise<string> {
+  if (!globalThis.crypto?.subtle) {
+    throw new M49TgsFullShadowContractError("Браузер не поддерживает проверку playback SHA-256.");
+  }
+  return globalThis.crypto.subtle.digest("SHA-256", buffer).then((digest) => (
+    [...new Uint8Array(digest)].map((value) => value.toString(16).padStart(2, "0")).join("")
+  ));
+}
+
+async function fetchPlaybackTrack(
+  track: M49TgsFullShadowPlaybackTrack,
+  fetcher: LaboratoryFetch,
+  signal: AbortSignal | undefined,
+  completedBytes: number,
+  totalBytes: number,
+  onProgress: ((progress: M49TgsFullShadowPlaybackProgress) => void) | undefined,
+): Promise<ArrayBuffer> {
+  const response = await fetcher(track.url, {
+    method: "GET",
+    headers: { Accept: track.mediaType },
+    signal,
+  });
+  if (!response.ok) {
+    throw new M49TgsFullShadowContractError(`M49 playback ${track.id} недоступен: HTTP ${response.status}.`);
+  }
+  const bytes = new Uint8Array(track.byteLength);
+  if (response.body) {
+    const reader = response.body.getReader();
+    let offset = 0;
+    while (true) {
+      const { done, value } = await reader.read();
+      if (done) break;
+      if (offset + value.byteLength > bytes.byteLength) {
+        throw new M49TgsFullShadowContractError(`M49 playback ${track.id}: превышен объявленный размер.`);
+      }
+      bytes.set(value, offset);
+      offset += value.byteLength;
+      onProgress?.({
+        phase: "download",
+        trackId: track.id,
+        loadedBytes: completedBytes + offset,
+        totalBytes,
+      });
+    }
+    if (offset !== bytes.byteLength) {
+      throw new M49TgsFullShadowContractError(`M49 playback ${track.id}: получен неполный файл.`);
+    }
+  } else {
+    const fallback = new Uint8Array(await response.arrayBuffer());
+    if (fallback.byteLength !== bytes.byteLength) {
+      throw new M49TgsFullShadowContractError(`M49 playback ${track.id}: получен неверный размер.`);
+    }
+    bytes.set(fallback);
+  }
+  onProgress?.({
+    phase: "verify",
+    trackId: track.id,
+    loadedBytes: completedBytes + bytes.byteLength,
+    totalBytes,
+  });
+  if (await sha256Hex(bytes.buffer) !== track.sha256) {
+    throw new M49TgsFullShadowContractError(`M49 playback ${track.id}: SHA-256 не совпал.`);
+  }
+  return bytes.buffer;
+}
+
+function equalShape(actual: readonly number[], expected: readonly number[]): boolean {
+  return actual.length === expected.length && actual.every((value, index) => value === expected[index]);
+}
+
+export function parseM49TgsNpyTrack(
+  buffer: ArrayBuffer,
+  expectedDtype: "<f4" | "|u1",
+  expectedShape: readonly number[],
+): Float32Array | Uint8Array {
+  const bytes = new Uint8Array(buffer);
+  if (bytes.byteLength < 12
+      || bytes[0] !== 0x93
+      || String.fromCharCode(...bytes.subarray(1, 6)) !== "NUMPY") {
+    throw new M49TgsFullShadowContractError("M49 playback NPY: неверная сигнатура.");
+  }
+  const major = bytes[6];
+  const headerLength = major === 1
+    ? new DataView(buffer).getUint16(8, true)
+    : major === 2 || major === 3
+      ? new DataView(buffer).getUint32(8, true)
+      : -1;
+  const headerOffset = major === 1 ? 10 : 12;
+  if (headerLength < 0 || headerOffset + headerLength > bytes.byteLength) {
+    throw new M49TgsFullShadowContractError("M49 playback NPY: неверный заголовок.");
+  }
+  const header = new TextDecoder("latin1").decode(bytes.subarray(headerOffset, headerOffset + headerLength));
+  const dtype = header.match(/["']descr["']\s*:\s*["']([^"']+)["']/)?.[1];
+  const fortran = header.match(/["']fortran_order["']\s*:\s*(True|False)/)?.[1];
+  const rawShape = header.match(/["']shape["']\s*:\s*\(([^)]*)\)/)?.[1];
+  const shape = rawShape?.split(",").map((value) => value.trim()).filter(Boolean).map(Number) ?? [];
+  if (dtype !== expectedDtype || fortran !== "False" || !equalShape(shape, expectedShape)) {
+    throw new M49TgsFullShadowContractError("M49 playback NPY: dtype или shape изменились.");
+  }
+  const count = expectedShape.reduce((product, value) => product * value, 1);
+  const dataOffset = headerOffset + headerLength;
+  const bytesPerValue = expectedDtype === "<f4" ? 4 : 1;
+  if (dataOffset + count * bytesPerValue !== buffer.byteLength) {
+    throw new M49TgsFullShadowContractError("M49 playback NPY: длина payload изменилась.");
+  }
+  return expectedDtype === "<f4"
+    ? new Float32Array(buffer, dataOffset, count)
+    : new Uint8Array(buffer, dataOffset, count);
+}
+
+function parsePlaybackFrames(buffer: ArrayBuffer): readonly M49TgsFullShadowPlaybackFrame[] {
+  const lines = new TextDecoder().decode(buffer).trim().split("\n");
+  if (lines.length !== 4489) {
+    throw new M49TgsFullShadowContractError("M49 playback frames: неверная размерность.");
+  }
+  return lines.map((line, sourceSequence) => {
+    const row = objectValue(JSON.parse(line), `M49 playback frame ${sourceSequence}`);
+    return {
+      sourceSequence,
+      sourceFrameIndex: integer(row.source_frame_index, `M49 playback frame ${sourceSequence}.source`),
+      sessionSeconds: numberValue(row.session_seconds, `M49 playback frame ${sourceSequence}.time`),
+      sampleAvailable: booleanValue(row.sample_available, `M49 playback frame ${sourceSequence}.available`),
+      metrics: {
+        eligiblePointCount: integer(row.eligible_point_count, `M49 playback frame ${sourceSequence}.eligible`),
+        groundPointCount: integer(row.ground_point_count, `M49 playback frame ${sourceSequence}.ground`),
+        nongroundPointCount: integer(row.nonground_point_count, `M49 playback frame ${sourceSequence}.nonground`),
+        rejectedPointCount: integer(row.rejected_point_count, `M49 playback frame ${sourceSequence}.rejected`),
+        occupiedCellCount: integer(row.occupied_cell_count, `M49 playback frame ${sourceSequence}.occupied`),
+      },
+    };
+  });
+}
+
+export async function fetchM49TgsFullShadowPlaybackPack(
+  id: string,
+  {
+    fetcher = fetch,
+    signal,
+    onProgress,
+  }: {
+    fetcher?: LaboratoryFetch;
+    signal?: AbortSignal;
+    onProgress?: (progress: M49TgsFullShadowPlaybackProgress) => void;
+  } = {},
+): Promise<M49TgsFullShadowPlaybackPack> {
+  if (!RESULT_ID.test(id)) {
+    throw new M49TgsFullShadowContractError("M49 playback identity недопустима.");
+  }
+  onProgress?.({ phase: "manifest", trackId: null, loadedBytes: 0, totalBytes: 0 });
+  const manifest = await fetchPlaybackManifest(id, fetcher, signal);
+  const buffers = new Map<M49TgsFullShadowPlaybackTrackId, ArrayBuffer>();
+  let completedBytes = 0;
+  const order: readonly M49TgsFullShadowPlaybackTrackId[] = ["frames", "centers", "states", "z-bounds"];
+  for (const trackId of order) {
+    const track = manifest.tracks.get(trackId);
+    if (!track) throw new M49TgsFullShadowContractError(`M49 playback ${trackId}: дорожка отсутствует.`);
+    const buffer = await fetchPlaybackTrack(
+      track,
+      fetcher,
+      signal,
+      completedBytes,
+      manifest.totalByteLength,
+      onProgress,
+    );
+    buffers.set(trackId, buffer);
+    completedBytes += track.byteLength;
+  }
+  const centersTrack = manifest.tracks.get("centers")!;
+  const statesTrack = manifest.tracks.get("states")!;
+  const zBoundsTrack = manifest.tracks.get("z-bounds")!;
+  const centersRaw = parseM49TgsNpyTrack(
+    buffers.get("centers")!,
+    "<f4",
+    centersTrack.shape,
+  ) as Float32Array;
+  const states = parseM49TgsNpyTrack(
+    buffers.get("states")!,
+    "|u1",
+    statesTrack.shape,
+  ) as Uint8Array;
+  const zBoundsM = parseM49TgsNpyTrack(
+    buffers.get("z-bounds")!,
+    "<f4",
+    zBoundsTrack.shape,
+  ) as Float32Array;
+  const frames = parsePlaybackFrames(buffers.get("frames")!);
+  onProgress?.({
+    phase: "ready",
+    trackId: null,
+    loadedBytes: manifest.totalByteLength,
+    totalBytes: manifest.totalByteLength,
+  });
+  return {
+    resultId: id,
+    frameCount: manifest.frameCount,
+    cellCount: manifest.cellCount,
+    totalByteLength: manifest.totalByteLength,
+    centersXyM: centersRaw,
+    states,
+    zBoundsM,
+    frames,
+  };
+}

apps/control-station/src/core/laboratory/m4ReplayThreat.ts

@@ -226,6 +226,51 @@ export interface M4ThreatTimelineChunk {
   frames: readonly M4ThreatTimelineFrame[];
 }
 
+export interface M4ThreatPlaybackProgress {
+  phase: "manifest" | "download" | "verify" | "ready";
+  loadedBytes: number;
+  totalBytes: number;
+}
+
+export interface M4ThreatPlaybackPointPack {
+  resultId: string;
+  frameCount: 4489;
+  pointCount: number;
+  pointOffsets: Uint32Array;
+  pointsMapXyzM: Float32Array;
+  pointStart?: number;
+  startSequence?: number;
+  sequenceCount?: number;
+}
+
+export interface M4ThreatPlaybackChunkDescriptor {
+  index: number;
+  start: number;
+  count: number;
+  pointStart: number;
+  pointCount: number;
+  url: string;
+  mediaType: "application/octet-stream";
+  byteLength: number;
+  sha256: string;
+}
+
+export interface M4ThreatPlaybackManifest {
+  resultId: string;
+  frameCount: 4489;
+  pointCount: number;
+  pointOffsets: Uint32Array;
+  chunkFrameCount: 24;
+  residentChunkCountMax: 4;
+  forwardPrefetchChunkCount: 1;
+  chunks: readonly M4ThreatPlaybackChunkDescriptor[];
+  track: {
+    url: string;
+    byteLength: number;
+    sha256: string;
+  };
+}
+
 type LaboratoryFetch = (input: RequestInfo | URL, init?: RequestInit) => Promise<Response>;
 export const M4_THREAT_TIMELINE_ENDPOINT_ROOT = "/api/v1/laboratory/m4-threat/results";
 class M4ThreatContractError extends Error {}
@@ -803,11 +848,13 @@ export async function fetchM4ThreatTimelineChunk(
     signal,
     endpointRoot = M4_THREAT_TIMELINE_ENDPOINT_ROOT,
     cameraObstacleProjectionDelivery = null,
+    playbackPointPack,
   }: {
     fetcher?: LaboratoryFetch;
     signal?: AbortSignal;
     endpointRoot?: string;
     cameraObstacleProjectionDelivery?: M4ThreatTimeline["cameraObstacleProjectionDelivery"];
+    playbackPointPack?: M4ThreatPlaybackPointPack;
   } = {},
 ): Promise<M4ThreatTimelineChunk> {
   const params = new URLSearchParams({
@@ -817,6 +864,7 @@ export async function fetchM4ThreatTimelineChunk(
   if (cameraObstacleProjectionDelivery !== null) {
     params.set("obstacle_projection", cameraObstacleProjectionDelivery);
   }
+  if (playbackPointPack) params.set("include_points", "false");
   const response = await fetcher(
     `${endpointRoot}/${result}/timeline/chunk?${params}`,
     { headers: { Accept: "application/json" }, signal },
@@ -834,8 +882,12 @@ export async function fetchM4ThreatTimelineChunk(
   if (parsedStart !== startSequence) {
     throw new M4ThreatContractError("M4.6 timeline chunk start: нарушен контракт.");
   }
-  const frames = array(payload.frames, "M4.6 timeline frames").map((raw, offset) =>
-    parseTimelineFrame(raw, result, parsedStart + offset, endpointRoot));
+  const frames = array(payload.frames, "M4.6 timeline frames").map((raw, offset) => {
+    const parsed = parseTimelineFrame(raw, result, parsedStart + offset, endpointRoot);
+    return playbackPointPack
+      ? hydrateM4ThreatTimelineFrame(parsed, playbackPointPack)
+      : parsed;
+  });
   const parsedCount = integer(payload.frame_count, "M4.6 timeline chunk count");
   if (parsedCount !== frames.length || parsedCount > frameCount) {
     throw new M4ThreatContractError("M4.6 timeline chunk count: нарушен контракт.");
@@ -851,6 +903,305 @@ export async function fetchM4ThreatTimelineChunk(
   };
 }
 
+function playbackSha256Hex(buffer: ArrayBuffer): Promise<string> {
+  if (!globalThis.crypto?.subtle) {
+    throw new M4ThreatContractError("Браузер не поддерживает проверку playback SHA-256.");
+  }
+  return globalThis.crypto.subtle.digest("SHA-256", buffer).then((digest) => (
+    [...new Uint8Array(digest)].map((value) => value.toString(16).padStart(2, "0")).join("")
+  ));
+}
+
+function roundedBodyCoordinate(value: number): number {
+  return Math.round(value * 1_000_000) / 1_000_000;
+}
+
+export function hydrateM4ThreatTimelineFrame(
+  frame: M4ThreatTimelineFrame,
+  pack: M4ThreatPlaybackPointPack,
+): M4ThreatTimelineFrame {
+  if (
+    frame.sequence >= pack.frameCount
+    || pack.resultId === ""
+    || (pack.startSequence !== undefined && (
+      frame.sequence < pack.startSequence
+      || frame.sequence >= pack.startSequence + (pack.sequenceCount ?? 0)
+    ))
+  ) {
+    throw new M4ThreatContractError("M4.6 binary playback frame: нарушена идентичность.");
+  }
+  if (!frame.sourceAvailable || !frame.spatialAvailable || !frame.bodyFrame) {
+    if (frame.pointCloudSourceCount !== 0) {
+      throw new M4ThreatContractError("M4.6 binary playback unavailable frame содержит точки.");
+    }
+    return { ...frame, pointCloudBodyXyzM: [], pointCloudSampleCount: 0 };
+  }
+  const start = pack.pointOffsets[frame.sequence];
+  const stop = pack.pointOffsets[frame.sequence + 1];
+  const pointStart = pack.pointStart ?? 0;
+  const pointStop = pointStart + pack.pointCount;
+  if (
+    start === undefined
+    || stop === undefined
+    || stop < start
+    || start < pointStart
+    || stop > pointStop
+  ) {
+    throw new M4ThreatContractError("M4.6 binary playback offsets: нарушена размерность.");
+  }
+  const count = stop - start;
+  if (frame.pointCloudSourceCount !== count || frame.pointCloudSampleCount !== count) {
+    throw new M4ThreatContractError("M4.6 binary playback point accounting: нарушен контракт.");
+  }
+  const origin = frame.bodyFrame.originMapXyzM;
+  const basis = frame.bodyFrame.basisMapFromBody;
+  const points = new Array<M4Point3>(count);
+  for (let index = 0; index < count; index += 1) {
+    const sourceOffset = (start - pointStart + index) * 3;
+    const dx = pack.pointsMapXyzM[sourceOffset]! - origin[0];
+    const dy = pack.pointsMapXyzM[sourceOffset + 1]! - origin[1];
+    const dz = pack.pointsMapXyzM[sourceOffset + 2]! - origin[2];
+    points[index] = [
+      roundedBodyCoordinate(dx * basis[0][0] + dy * basis[1][0] + dz * basis[2][0]),
+      roundedBodyCoordinate(dx * basis[0][1] + dy * basis[1][1] + dz * basis[2][1]),
+      roundedBodyCoordinate(dx * basis[0][2] + dy * basis[1][2] + dz * basis[2][2]),
+    ];
+  }
+  return { ...frame, pointCloudBodyXyzM: points, pointCloudSampleCount: count };
+}
+
+export async function fetchM4ThreatPlaybackManifest(
+  result: string,
+  {
+    fetcher = fetch,
+    signal,
+    endpointRoot = M4_THREAT_TIMELINE_ENDPOINT_ROOT,
+  }: {
+    fetcher?: LaboratoryFetch;
+    signal?: AbortSignal;
+    endpointRoot?: string;
+  } = {},
+): Promise<M4ThreatPlaybackManifest> {
+  resultId(result);
+  const manifestResponse = await fetcher(`${endpointRoot}/${result}/timeline/playback`, {
+    headers: { Accept: "application/json" },
+    signal,
+  });
+  if (!manifestResponse.ok) {
+    throw new M4ThreatContractError(`M4.6 playback manifest: HTTP ${manifestResponse.status}.`);
+  }
+  const manifest = object(await manifestResponse.json(), "M4.6 playback manifest");
+  exact(manifest.schema_version, "missioncore.recorded-spatial-playback/v1", "M4.6 playback schema");
+  exact(manifest.result_id, result, "M4.6 playback result");
+  exact(manifest.coordinate_frame, "map", "M4.6 playback coordinate frame");
+  exact(manifest.access, "read-only-sealed-binary-playback", "M4.6 playback access");
+  const frameCount = exact(integer(manifest.frame_count, "M4.6 playback frames"), 4489, "M4.6 playback frames");
+  const pointCount = integer(manifest.point_count, "M4.6 playback points");
+  const offsetsRaw = array(manifest.point_offsets, "M4.6 playback offsets");
+  if (offsetsRaw.length !== frameCount + 1) {
+    throw new M4ThreatContractError("M4.6 playback offsets: неверная размерность.");
+  }
+  const pointOffsets = Uint32Array.from(offsetsRaw, (value) => integer(value, "M4.6 playback offset"));
+  if (pointOffsets[0] !== 0 || pointOffsets[pointOffsets.length - 1] !== pointCount) {
+    throw new M4ThreatContractError("M4.6 playback offsets: нарушено замыкание.");
+  }
+  for (let index = 1; index < pointOffsets.length; index += 1) {
+    if (pointOffsets[index]! < pointOffsets[index - 1]!) {
+      throw new M4ThreatContractError("M4.6 playback offsets: нарушена монотонность.");
+    }
+  }
+  const track = object(manifest.track, "M4.6 playback track");
+  exact(track.id, "points-map-f32", "M4.6 playback track id");
+  exact(track.dtype, "<f4", "M4.6 playback dtype");
+  const shape = array(track.shape, "M4.6 playback shape").map((value) => integer(value, "M4.6 playback shape"));
+  if (shape.length !== 2 || shape[0] !== pointCount || shape[1] !== 3) {
+    throw new M4ThreatContractError("M4.6 playback shape: нарушена размерность.");
+  }
+  const byteLength = integer(track.bytes, "M4.6 playback bytes");
+  if (byteLength !== pointCount * 3 * Float32Array.BYTES_PER_ELEMENT) {
+    throw new M4ThreatContractError("M4.6 playback bytes: нарушен accounting.");
+  }
+  const sha256 = text(track.sha256, "M4.6 playback SHA-256");
+  if (!/^[a-f0-9]{64}$/.test(sha256)) {
+    throw new M4ThreatContractError("M4.6 playback SHA-256: нарушен контракт.");
+  }
+  const trackUrl = text(track.url, "M4.6 playback URL");
+  const chunkFrameCount = exact(
+    integer(manifest.chunk_frame_count, "M4.6 playback chunk frames"),
+    24,
+    "M4.6 playback chunk frames",
+  );
+  const residentChunkCountMax = exact(
+    integer(manifest.resident_chunk_count_max, "M4.6 playback resident chunks"),
+    4,
+    "M4.6 playback resident chunks",
+  );
+  const forwardPrefetchChunkCount = exact(
+    integer(manifest.forward_prefetch_chunk_count, "M4.6 playback prefetch chunks"),
+    1,
+    "M4.6 playback prefetch chunks",
+  );
+  const chunkRows = array(manifest.chunks, "M4.6 playback chunks");
+  const expectedChunkCount = Math.ceil(frameCount / chunkFrameCount);
+  if (chunkRows.length !== expectedChunkCount) {
+    throw new M4ThreatContractError("M4.6 playback chunk catalog: неверный размер.");
+  }
+  const chunks = chunkRows.map((value, index): M4ThreatPlaybackChunkDescriptor => {
+    const row = object(value, `M4.6 playback chunk ${index}`);
+    const start = index * chunkFrameCount;
+    const count = Math.min(chunkFrameCount, frameCount - start);
+    const pointStart = pointOffsets[start]!;
+    const pointStop = pointOffsets[start + count]!;
+    const pointChunkCount = pointStop - pointStart;
+    exact(integer(row.index, `M4.6 playback chunk ${index}.index`), index, `M4.6 playback chunk ${index}.index`);
+    exact(integer(row.start, `M4.6 playback chunk ${index}.start`), start, `M4.6 playback chunk ${index}.start`);
+    exact(integer(row.count, `M4.6 playback chunk ${index}.count`), count, `M4.6 playback chunk ${index}.count`);
+    exact(integer(row.point_start, `M4.6 playback chunk ${index}.point start`), pointStart, `M4.6 playback chunk ${index}.point start`);
+    exact(integer(row.point_count, `M4.6 playback chunk ${index}.point count`), pointChunkCount, `M4.6 playback chunk ${index}.point count`);
+    exact(row.media_type, "application/octet-stream", `M4.6 playback chunk ${index}.media type`);
+    exact(row.dtype, "<f4", `M4.6 playback chunk ${index}.dtype`);
+    const shapeValue = array(row.shape, `M4.6 playback chunk ${index}.shape`)
+      .map((item) => integer(item, `M4.6 playback chunk ${index}.shape`));
+    const chunkBytes = integer(row.bytes, `M4.6 playback chunk ${index}.bytes`);
+    if (
+      shapeValue.length !== 2
+      || shapeValue[0] !== pointChunkCount
+      || shapeValue[1] !== 3
+      || chunkBytes !== pointChunkCount * 3 * Float32Array.BYTES_PER_ELEMENT
+    ) {
+      throw new M4ThreatContractError(`M4.6 playback chunk ${index}: нарушена размерность.`);
+    }
+    const chunkSha256 = text(row.sha256, `M4.6 playback chunk ${index}.SHA-256`);
+    if (!/^[a-f0-9]{64}$/.test(chunkSha256)) {
+      throw new M4ThreatContractError(`M4.6 playback chunk ${index}: SHA-256 недопустим.`);
+    }
+    const expectedUrl = `${endpointRoot}/${result}/timeline/playback/chunks/${index}`;
+    const url = text(row.url, `M4.6 playback chunk ${index}.URL`);
+    if (url !== expectedUrl || url.includes("worker")) {
+      throw new M4ThreatContractError(`M4.6 playback chunk ${index}: разрешён только sealed local API.`);
+    }
+    return {
+      index,
+      start,
+      count,
+      pointStart,
+      pointCount: pointChunkCount,
+      url,
+      mediaType: "application/octet-stream",
+      byteLength: chunkBytes,
+      sha256: chunkSha256,
+    };
+  });
+  return {
+    resultId: result,
+    frameCount,
+    pointCount,
+    pointOffsets,
+    chunkFrameCount,
+    residentChunkCountMax,
+    forwardPrefetchChunkCount,
+    chunks,
+    track: { url: trackUrl, byteLength, sha256 },
+  };
+}
+
+export async function fetchM4ThreatPlaybackPointChunk(
+  manifest: M4ThreatPlaybackManifest,
+  chunkIndex: number,
+  {
+    fetcher = fetch,
+    signal,
+    onProgress,
+  }: {
+    fetcher?: LaboratoryFetch;
+    signal?: AbortSignal;
+    onProgress?: (progress: M4ThreatPlaybackProgress) => void;
+  } = {},
+): Promise<M4ThreatPlaybackPointPack> {
+  const descriptor = manifest.chunks[chunkIndex];
+  if (!descriptor || descriptor.index !== chunkIndex) {
+    throw new M4ThreatContractError("M4.6 playback chunk отсутствует.");
+  }
+  onProgress?.({ phase: "download", loadedBytes: 0, totalBytes: descriptor.byteLength });
+  const response = await fetcher(descriptor.url, {
+    headers: { Accept: "application/octet-stream" },
+    signal,
+  });
+  if (!response.ok) {
+    throw new M4ThreatContractError(`M4.6 playback chunk: HTTP ${response.status}.`);
+  }
+  const buffer = await response.arrayBuffer();
+  if (buffer.byteLength !== descriptor.byteLength) {
+    throw new M4ThreatContractError("M4.6 playback chunk: неверный размер.");
+  }
+  onProgress?.({
+    phase: "verify",
+    loadedBytes: descriptor.byteLength,
+    totalBytes: descriptor.byteLength,
+  });
+  if (await playbackSha256Hex(buffer) !== descriptor.sha256) {
+    throw new M4ThreatContractError("M4.6 playback chunk: SHA-256 не совпал.");
+  }
+  onProgress?.({
+    phase: "ready",
+    loadedBytes: descriptor.byteLength,
+    totalBytes: descriptor.byteLength,
+  });
+  return {
+    resultId: manifest.resultId,
+    frameCount: manifest.frameCount,
+    pointCount: descriptor.pointCount,
+    pointOffsets: manifest.pointOffsets,
+    pointsMapXyzM: new Float32Array(buffer),
+    pointStart: descriptor.pointStart,
+    startSequence: descriptor.start,
+    sequenceCount: descriptor.count,
+  };
+}
+
+export async function fetchM4ThreatPlaybackPointPack(
+  result: string,
+  {
+    fetcher = fetch,
+    signal,
+    endpointRoot = M4_THREAT_TIMELINE_ENDPOINT_ROOT,
+    onProgress,
+  }: {
+    fetcher?: LaboratoryFetch;
+    signal?: AbortSignal;
+    endpointRoot?: string;
+    onProgress?: (progress: M4ThreatPlaybackProgress) => void;
+  } = {},
+): Promise<M4ThreatPlaybackPointPack> {
+  onProgress?.({ phase: "manifest", loadedBytes: 0, totalBytes: 0 });
+  const manifest = await fetchM4ThreatPlaybackManifest(result, {
+    fetcher,
+    signal,
+    endpointRoot,
+  });
+  const response = await fetcher(manifest.track.url, {
+    headers: { Accept: "application/octet-stream" },
+    signal,
+  });
+  if (!response.ok) throw new M4ThreatContractError(`M4.6 playback points: HTTP ${response.status}.`);
+  const buffer = await response.arrayBuffer();
+  if (buffer.byteLength !== manifest.track.byteLength) {
+    throw new M4ThreatContractError("M4.6 playback points: неверный размер.");
+  }
+  onProgress?.({ phase: "verify", loadedBytes: buffer.byteLength, totalBytes: buffer.byteLength });
+  if (await playbackSha256Hex(buffer) !== manifest.track.sha256) {
+    throw new M4ThreatContractError("M4.6 playback points: SHA-256 не совпал.");
+  }
+  onProgress?.({ phase: "ready", loadedBytes: buffer.byteLength, totalBytes: buffer.byteLength });
+  return {
+    resultId: manifest.resultId,
+    frameCount: manifest.frameCount,
+    pointCount: manifest.pointCount,
+    pointOffsets: manifest.pointOffsets,
+    pointsMapXyzM: new Float32Array(buffer),
+  };
+}
+
 export async function fetchM4ThreatCameraPointOverlay(
   result: string,
   sequence: number,

apps/control-station/src/core/laboratory/vegetationShadow.ts

@@ -0,0 +1,432 @@
+import type { LaboratoryFetch } from "./advancedResults";
+
+const RESULT_ID = /^lab-v1-vegetation-shadow-[a-f0-9]{64}$/;
+const SHA256 = /^[a-f0-9]{64}$/;
+const CANDIDATES = ["ddrnet", "ppliteseg"] as const;
+const ROUTE_MODES = ["source", "ddrnet", "ppliteseg", "urban", "rural", "offroad"] as const;
+const VALIDATION_ASSETS = [
+  "source",
+  "truth",
+  "ddrnet",
+  "ppliteseg",
+  "ddrnet_error",
+  "ppliteseg_error",
+] as const;
+
+export type VegetationCandidateKey = typeof CANDIDATES[number];
+export type VegetationRouteMode = typeof ROUTE_MODES[number];
+
+export interface VegetationVisualFocus {
+  className: string;
+  labelId: number;
+  truthPixels: number;
+  truthFraction: number;
+  stratumRank: number;
+}
+
+export interface VegetationCandidateMetrics {
+  candidate: VegetationCandidateKey;
+  loadedModelName: string;
+  checkpointSha256: string;
+  meanIouPercent: number;
+  publishedMeanIouPercent: number;
+  vegetationMeanIouPercent: number;
+  validationLatencyP95Ms: number;
+  validationThroughputFps: number;
+  shadowLatencyP95Ms: number;
+  shadowThroughputFps: number;
+  shadowPrewarmLatencyMs: number;
+  peakReservedVramBytes: number;
+  gpuName: string;
+}
+
+export interface VegetationVisualCase {
+  caseId: string;
+  sourceKind: "goose" | "ravnoves";
+  width: number;
+  height: number;
+  centerCropXyxy: readonly [number, number, number, number];
+  outsideCropState: "undefined" | "not-applicable";
+  focus: VegetationVisualFocus | null;
+  assets: Readonly<Record<string, string>>;
+}
+
+export interface VegetationVideoSemanticClass {
+  classId: number;
+  label: string;
+  colorRgb: readonly [number, number, number];
+  disposition: "prediction" | "undefined";
+}
+
+export interface VegetationRouteVideo {
+  workerResultId: string;
+  m47ReferenceGraphResultId: string;
+  baseM4ResultId: string;
+  frameCount: 4489;
+  width: 800;
+  height: 600;
+  centerCropXyxy: readonly [100, 0, 700, 600];
+  outsideCropState: "undefined";
+  taxonomy: readonly VegetationVideoSemanticClass[];
+  aggregatePredictionPixels: readonly number[];
+}
+
+export interface VegetationShadowResult {
+  resultId: string;
+  createdAtUtc: string;
+  status: "visual-shadow-ready-policy-not-authorized";
+  selectedCandidate: VegetationCandidateKey;
+  candidates: readonly VegetationCandidateMetrics[];
+  routeCases: readonly VegetationVisualCase[];
+  validationCases: readonly VegetationVisualCase[];
+  routeVideo: VegetationRouteVideo | null;
+  limitations: readonly string[];
+  visualShadowReady: true;
+  missionPolicyReadyForConfiguration: true;
+  authority: {
+    commandsEnabled: false;
+    navigationOrSafetyAccepted: false;
+    actuationAccepted: false;
+    cameraSemanticsCanClearRigidGeometry: false;
+  };
+}
+
+export class VegetationShadowContractError extends Error {}
+
+function objectValue(value: unknown, label: string): Record<string, unknown> {
+  if (!value || typeof value !== "object" || Array.isArray(value)) {
+    throw new VegetationShadowContractError(`${label}: ожидался объект.`);
+  }
+  return value as Record<string, unknown>;
+}
+
+function arrayValue(value: unknown, label: string): readonly unknown[] {
+  if (!Array.isArray(value)) throw new VegetationShadowContractError(`${label}: ожидался массив.`);
+  return value;
+}
+
+function textValue(value: unknown, label: string): string {
+  if (typeof value !== "string" || !value.trim()) {
+    throw new VegetationShadowContractError(`${label}: ожидалась строка.`);
+  }
+  return value;
+}
+
+function numberValue(value: unknown, label: string): number {
+  if (typeof value !== "number" || !Number.isFinite(value)) {
+    throw new VegetationShadowContractError(`${label}: ожидалось число.`);
+  }
+  return value;
+}
+
+function integerValue(value: unknown, label: string): number {
+  const parsed = numberValue(value, label);
+  if (!Number.isInteger(parsed) || parsed < 0) {
+    throw new VegetationShadowContractError(`${label}: ожидалось неотрицательное целое.`);
+  }
+  return parsed;
+}
+
+function exact(value: unknown, expected: unknown, label: string): void {
+  if (value !== expected) {
+    throw new VegetationShadowContractError(`${label}: контракт изменён.`);
+  }
+}
+
+function candidateKey(value: unknown, label: string): VegetationCandidateKey {
+  if (value !== "ddrnet" && value !== "ppliteseg") {
+    throw new VegetationShadowContractError(`${label}: неизвестная модель.`);
+  }
+  return value;
+}
+
+function candidateMetricsValue(
+  value: unknown,
+  candidate: VegetationCandidateKey,
+): VegetationCandidateMetrics {
+  const row = objectValue(value, `vegetation.metrics.${candidate}`);
+  const validation = objectValue(row.validation_metrics, `${candidate}.validation_metrics`);
+  const validationTiming = objectValue(row.validation_timing, `${candidate}.validation_timing`);
+  const shadowTiming = objectValue(row.shadow_timing, `${candidate}.shadow_timing`);
+  const resource = objectValue(row.resource, `${candidate}.resource`);
+  const checkpointSha256 = textValue(row.checkpoint_sha256, `${candidate}.checkpoint_sha256`);
+  if (!SHA256.test(checkpointSha256)) {
+    throw new VegetationShadowContractError(`${candidate}.checkpoint_sha256: digest invalid.`);
+  }
+  return {
+    candidate,
+    loadedModelName: textValue(row.loaded_model_name, `${candidate}.loaded_model_name`),
+    checkpointSha256,
+    meanIouPercent: numberValue(validation.mean_iou_percent, `${candidate}.mean_iou_percent`),
+    publishedMeanIouPercent: numberValue(
+      validation.published_mean_iou_percent,
+      `${candidate}.published_mean_iou_percent`,
+    ),
+    vegetationMeanIouPercent: numberValue(validation.vegetation_mean_iou, `${candidate}.vegetation_mean_iou`) * 100,
+    validationLatencyP95Ms: numberValue(validationTiming.latency_ms_p95, `${candidate}.validation_latency_p95`),
+    validationThroughputFps: numberValue(
+      validationTiming.throughput_fps_from_mean_inference,
+      `${candidate}.validation_throughput`,
+    ),
+    shadowLatencyP95Ms: numberValue(shadowTiming.latency_ms_p95, `${candidate}.shadow_latency_p95`),
+    shadowThroughputFps: numberValue(
+      shadowTiming.throughput_fps_from_mean_inference,
+      `${candidate}.shadow_throughput`,
+    ),
+    shadowPrewarmLatencyMs: numberValue(
+      shadowTiming.prewarm_latency_ms,
+      `${candidate}.shadow_prewarm_latency`,
+    ),
+    peakReservedVramBytes: integerValue(resource.peak_reserved_vram_bytes, `${candidate}.vram`),
+    gpuName: textValue(resource.gpu_name, `${candidate}.gpu_name`),
+  };
+}
+
+function visualCaseValue(
+  value: unknown,
+  resultId: string,
+  expectedKind: "goose" | "ravnoves",
+): VegetationVisualCase {
+  const row = objectValue(value, `vegetation.${expectedKind}.case`);
+  exact(row.source_kind, expectedKind, "vegetation.case.source_kind");
+  const caseId = textValue(row.case_id, "vegetation.case.case_id");
+  const crop = arrayValue(row.center_crop_xyxy, "vegetation.case.center_crop_xyxy")
+    .map((item, index) => integerValue(item, `vegetation.case.crop[${index}]`));
+  if (crop.length !== 4) {
+    throw new VegetationShadowContractError("vegetation.case.center_crop_xyxy: размер изменён.");
+  }
+  const assets = objectValue(row.assets, "vegetation.case.assets");
+  const projected: Record<string, string> = {};
+  for (const [key, raw] of Object.entries(assets)) {
+    const descriptor = objectValue(raw, `vegetation.case.assets.${key}`);
+    const path = textValue(descriptor.path, `vegetation.case.assets.${key}.path`);
+    const sha256 = textValue(descriptor.sha256, `vegetation.case.assets.${key}.sha256`);
+    if (!SHA256.test(sha256) || !path.startsWith(`visual/${expectedKind}/${caseId}/`)) {
+      throw new VegetationShadowContractError(`vegetation.case.assets.${key}: proof invalid.`);
+    }
+    projected[key] = `/api/v1/laboratory/vegetation-shadow/${encodeURIComponent(resultId)}/assets/${path
+      .split("/")
+      .map(encodeURIComponent)
+      .join("/")}`;
+  }
+  const expectedAssets = expectedKind === "goose"
+    ? VALIDATION_ASSETS
+    : ROUTE_MODES;
+  if (expectedAssets.some((key) => !projected[key])) {
+    throw new VegetationShadowContractError(`vegetation.case.assets: ${expectedKind} набор неполон.`);
+  }
+  const outsideCropState = row.outside_crop_state;
+  if (outsideCropState !== "undefined" && outsideCropState !== "not-applicable") {
+    throw new VegetationShadowContractError("vegetation.case.outside_crop_state: контракт изменён.");
+  }
+  let focus: VegetationVisualFocus | null = null;
+  if (expectedKind === "goose") {
+    const rawFocus = objectValue(row.focus, "vegetation.case.focus");
+    const truthFraction = numberValue(rawFocus.truth_fraction, "vegetation.case.focus.truth_fraction");
+    if (truthFraction <= 0 || truthFraction > 1) {
+      throw new VegetationShadowContractError("vegetation.case.focus.truth_fraction: диапазон изменён.");
+    }
+    focus = {
+      className: textValue(rawFocus.class_name, "vegetation.case.focus.class_name"),
+      labelId: integerValue(rawFocus.label_id, "vegetation.case.focus.label_id"),
+      truthPixels: integerValue(rawFocus.truth_pixels, "vegetation.case.focus.truth_pixels"),
+      truthFraction,
+      stratumRank: integerValue(rawFocus.stratum_rank, "vegetation.case.focus.stratum_rank"),
+    };
+  } else if (row.focus !== null) {
+    throw new VegetationShadowContractError("vegetation.case.focus: RAVNOVES focus отсутствует.");
+  }
+  return {
+    caseId,
+    sourceKind: expectedKind,
+    width: integerValue(row.width, "vegetation.case.width"),
+    height: integerValue(row.height, "vegetation.case.height"),
+    centerCropXyxy: crop as unknown as readonly [number, number, number, number],
+    outsideCropState,
+    focus,
+    assets: projected,
+  };
+}
+
+function routeVideoValue(value: unknown): VegetationRouteVideo | null {
+  if (value === null || value === undefined) return null;
+  const row = objectValue(value, "vegetation.route_video");
+  const workerResultId = textValue(row.worker_result_id, "vegetation.route_video.worker_result_id");
+  const m47ReferenceGraphResultId = textValue(
+    row.m47_reference_graph_result_id,
+    "vegetation.route_video.m47_reference_graph_result_id",
+  );
+  const baseM4ResultId = textValue(row.base_m4_result_id, "vegetation.route_video.base_m4_result_id");
+  if (
+    !/^lab-v1-ravnoves-video-ddrnet-[a-f0-9]{64}$/.test(workerResultId)
+    || !/^m47-reference-graph-lab-[a-f0-9]{64}$/.test(m47ReferenceGraphResultId)
+    || !/^m4-threat-replay-[a-f0-9]{64}$/.test(baseM4ResultId)
+  ) {
+    throw new VegetationShadowContractError("vegetation.route_video: identity invalid.");
+  }
+  exact(row.frame_count, 4489, "vegetation.route_video.frame_count");
+  exact(row.width, 800, "vegetation.route_video.width");
+  exact(row.height, 600, "vegetation.route_video.height");
+  exact(row.outside_crop_state, "undefined", "vegetation.route_video.outside_crop_state");
+  exact(
+    row.sequence_binding,
+    "sequence-0-to-masks/frame-000001.png",
+    "vegetation.route_video.sequence_binding",
+  );
+  const crop = arrayValue(row.center_crop_xyxy, "vegetation.route_video.center_crop_xyxy")
+    .map((item, index) => integerValue(item, `vegetation.route_video.crop[${index}]`));
+  if (crop.join(",") !== "100,0,700,600") {
+    throw new VegetationShadowContractError("vegetation.route_video: crop contract changed.");
+  }
+  const taxonomy = objectValue(row.taxonomy, "vegetation.route_video.taxonomy");
+  exact(
+    taxonomy.schema_version,
+    "missioncore.lab-v1-vegetation-taxonomy/v1",
+    "vegetation.route_video.taxonomy.schema",
+  );
+  const classes = arrayValue(taxonomy.classes, "vegetation.route_video.taxonomy.classes")
+    .map((value, expectedId): VegetationVideoSemanticClass => {
+      const item = objectValue(value, `vegetation.route_video.taxonomy[${expectedId}]`);
+      const classId = integerValue(item.class_id, `vegetation.route_video.class_id[${expectedId}]`);
+      if (classId !== expectedId) {
+        throw new VegetationShadowContractError("vegetation.route_video: taxonomy order changed.");
+      }
+      const color = arrayValue(item.color_rgb, `vegetation.route_video.color[${expectedId}]`)
+        .map((channel, index) => integerValue(channel, `vegetation.route_video.color[${expectedId}][${index}]`));
+      if (color.length !== 3 || color.some((channel) => channel > 255)) {
+        throw new VegetationShadowContractError("vegetation.route_video: taxonomy color invalid.");
+      }
+      const disposition: VegetationVideoSemanticClass["disposition"] = expectedId === 0
+        ? "undefined"
+        : "prediction";
+      if (item.disposition !== disposition) {
+        throw new VegetationShadowContractError("vegetation.route_video: taxonomy disposition changed.");
+      }
+      return {
+        classId,
+        label: textValue(item.label, `vegetation.route_video.label[${expectedId}]`),
+        colorRgb: color as unknown as readonly [number, number, number],
+        disposition,
+      };
+    });
+  if (classes.length !== 64) {
+    throw new VegetationShadowContractError("vegetation.route_video: taxonomy must contain 64 classes.");
+  }
+  const aggregatePredictionPixels = arrayValue(
+    row.aggregate_prediction_pixels,
+    "vegetation.route_video.aggregate_prediction_pixels",
+  ).map((value, index) => integerValue(value, `vegetation.route_video.pixels[${index}]`));
+  if (aggregatePredictionPixels.length !== 64) {
+    throw new VegetationShadowContractError("vegetation.route_video: class accounting changed.");
+  }
+  const maskArchive = objectValue(row.mask_archive, "vegetation.route_video.mask_archive");
+  exact(maskArchive.path, "video/ddrnet-semantic-masks.zip", "vegetation.route_video.mask_archive.path");
+  const archiveSha256 = textValue(maskArchive.sha256, "vegetation.route_video.mask_archive.sha256");
+  if (!SHA256.test(archiveSha256)) {
+    throw new VegetationShadowContractError("vegetation.route_video: archive digest invalid.");
+  }
+  integerValue(maskArchive.byte_length, "vegetation.route_video.mask_archive.byte_length");
+  return {
+    workerResultId,
+    m47ReferenceGraphResultId,
+    baseM4ResultId,
+    frameCount: 4489,
+    width: 800,
+    height: 600,
+    centerCropXyxy: [100, 0, 700, 600],
+    outsideCropState: "undefined",
+    taxonomy: classes,
+    aggregatePredictionPixels,
+  };
+}
+
+function parseResult(value: unknown, resultId: string): VegetationShadowResult {
+  const payload = objectValue(value, "Vegetation LAB");
+  exact(payload.schema_version, "missioncore.lab-v1-vegetation-shadow/v1", "vegetation.schema");
+  exact(payload.result_id, resultId, "vegetation.result_id");
+  exact(payload.status, "visual-shadow-ready-policy-not-authorized", "vegetation.status");
+  exact(payload.ground_truth, false, "vegetation.ground_truth");
+  exact(payload.access, "read-only", "vegetation.access");
+  const identity = objectValue(payload.identity, "vegetation.identity");
+  const metrics = objectValue(payload.metrics, "vegetation.metrics");
+  const candidates = objectValue(metrics.candidates, "vegetation.metrics.candidates");
+  const decision = objectValue(payload.decision, "vegetation.decision");
+  const authority = objectValue(payload.authority, "vegetation.authority");
+  const catalogs = objectValue(payload.catalogs, "vegetation.catalogs");
+  const selectedCandidate = candidateKey(identity.selected_candidate, "vegetation.selected_candidate");
+  exact(decision.selected_candidate, selectedCandidate, "vegetation.decision.selected_candidate");
+  exact(decision.visual_shadow_ready, true, "vegetation.decision.visual_shadow_ready");
+  exact(
+    decision.mission_policy_ready_for_configuration,
+    true,
+    "vegetation.decision.mission_policy_ready_for_configuration",
+  );
+  exact(decision.navigation_accepted, false, "vegetation.decision.navigation_accepted");
+  exact(decision.production_accepted, false, "vegetation.decision.production_accepted");
+  exact(authority.commands_enabled, false, "vegetation.authority.commands_enabled");
+  exact(
+    authority.navigation_or_safety_accepted,
+    false,
+    "vegetation.authority.navigation_or_safety_accepted",
+  );
+  exact(authority.actuation_accepted, false, "vegetation.authority.actuation_accepted");
+  exact(
+    authority.camera_semantics_can_clear_rigid_geometry,
+    false,
+    "vegetation.authority.camera_semantics_can_clear_rigid_geometry",
+  );
+  const routeCases = arrayValue(catalogs.ravnoves, "vegetation.catalogs.ravnoves")
+    .map((item) => visualCaseValue(item, resultId, "ravnoves"));
+  const validationCases = arrayValue(catalogs.goose, "vegetation.catalogs.goose")
+    .map((item) => visualCaseValue(item, resultId, "goose"));
+  if (routeCases.length !== 0 || validationCases.length !== 12) {
+    throw new VegetationShadowContractError("vegetation.catalogs: ожидалось 12 truth-backed GOOSE случаев без route viewer.");
+  }
+  return {
+    resultId,
+    createdAtUtc: textValue(payload.created_at_utc, "vegetation.created_at_utc"),
+    status: "visual-shadow-ready-policy-not-authorized",
+    selectedCandidate,
+    candidates: CANDIDATES.map((candidate) => candidateMetricsValue(candidates[candidate], candidate)),
+    routeCases,
+    validationCases,
+    routeVideo: routeVideoValue(payload.route_video),
+    limitations: arrayValue(payload.limitations, "vegetation.limitations")
+      .map((item, index) => textValue(item, `vegetation.limitations[${index}]`)),
+    visualShadowReady: true,
+    missionPolicyReadyForConfiguration: true,
+    authority: {
+      commandsEnabled: false,
+      navigationOrSafetyAccepted: false,
+      actuationAccepted: false,
+      cameraSemanticsCanClearRigidGeometry: false,
+    },
+  };
+}
+
+export function vegetationVideoMaskUrl(resultId: string, sequence: number): string {
+  if (!RESULT_ID.test(resultId) || !Number.isInteger(sequence) || sequence < 0 || sequence >= 4489) {
+    throw new VegetationShadowContractError("Vegetation video mask identity недопустима.");
+  }
+  return `/api/v1/laboratory/vegetation-shadow/${encodeURIComponent(resultId)}/masks/${sequence}`;
+}
+
+export async function fetchVegetationShadowResult(
+  resultId: string,
+  {
+    fetcher = fetch,
+    signal,
+  }: { fetcher?: LaboratoryFetch; signal?: AbortSignal } = {},
+): Promise<VegetationShadowResult> {
+  if (!RESULT_ID.test(resultId)) {
+    throw new VegetationShadowContractError("Vegetation LAB identity недопустима.");
+  }
+  const response = await fetcher(
+    `/api/v1/laboratory/vegetation-shadow/${encodeURIComponent(resultId)}`,
+    { method: "GET", headers: { Accept: "application/json" }, signal },
+  );
+  if (!response.ok) {
+    throw new VegetationShadowContractError(`Vegetation LAB недоступна: HTTP ${response.status}.`);
+  }
+  return parseResult(await response.json(), resultId);
+}

apps/control-station/src/core/simulation/projects.ts

@@ -1,6 +1,10 @@
 export type SimulationSceneType = "interior" | "outdoor" | "object";
-export type SimulationTransformAxis = "x" | "y" | "z";
 export type SimulationViewerQuality = "low" | "medium" | "high" | "ultra" | "maximum";
+export interface SimulationEulerRotation {
+  x: number;
+  y: number;
+  z: number;
+}
 export type SimulationProjectStatus =
   | "uploading"
   | "queued"
@@ -35,13 +39,38 @@ export interface SimulationWorldManifest {
 }
 
 export interface SimulationViewerSettings {
-  schemaVersion: "missioncore.simulation-viewer-settings/v1";
+  schemaVersion: "missioncore.simulation-viewer-settings/v3";
   quality: SimulationViewerQuality;
-  visual: { inverted: boolean; axis: SimulationTransformAxis };
-  collision: { inverted: boolean; axis: SimulationTransformAxis };
+  visual: { rotationDegrees: SimulationEulerRotation };
+  collision: { rotationDegrees: SimulationEulerRotation };
   camera: { invertHorizontal: boolean; invertVertical: boolean };
+  ugv: SimulationUgvPreset;
 }
 
+export interface SimulationUgvPreset {
+  presetName: string;
+  massKg: number;
+  dimensionsMeters: {
+    length: number;
+    width: number;
+    height: number;
+    groundClearance: number;
+  };
+  maxSpeedMetersPerSecond: number;
+  maxTurnRateDegrees: number;
+  invertSteering: boolean;
+}
+
+export const SIMULATION_UGV_EXACT_VALUE_LIMITS = {
+  massKg: { min: 0.01, max: 1_000_000_000 },
+  length: { min: 0.01, max: 1_000_000_000 },
+  width: { min: 0.01, max: 1_000_000_000 },
+  height: { min: 0.07, max: 1_000_000_000 },
+  groundClearance: { min: 0.01, max: 1_000_000_000 },
+  maxSpeedMetersPerSecond: { min: 0, max: 1_000_000_000 },
+  maxTurnRateDegrees: { min: 0, max: 1_000_000_000 },
+} as const;
+
 export interface SimulationProject {
   schemaVersion: "missioncore.simulation-project/v1";
   projectId: string;
@@ -58,7 +87,9 @@ export interface SimulationProject {
   provider: {
     providerId: "gaussian-pipeline";
     jobId: string | null;
+    jobCreatedAtUtc: string | null;
     state: string | null;
+    stateStartedAtUtc: string | null;
     progress: { completed_steps?: number; total_steps?: number; stage?: string } | null;
     runtime: { source_revision?: string; image_digest?: string } | null;
   };
@@ -85,11 +116,60 @@ export interface SimulationUploadProgress {
   uploadedBytes: number;
   totalBytes: number;
   currentPath: string;
+  bytesPerSecond: number | null;
+  estimatedSecondsRemaining: number | null;
 }
 
 const API_ROOT = "/api/v1/simulation-worlds/projects";
 const CHUNK_BYTES = 8 * 1024 * 1024;
 const MAX_UPLOAD_ATTEMPTS = 3;
+const REFERENCE_SOURCE_BYTES = 4_100_808_854;
+const REFERENCE_PREPARATION_SECONDS = 187;
+const REFERENCE_STREAM_SECONDS = 2_317;
+
+export interface SimulationProcessingEstimate {
+  percent: number;
+  estimatedSecondsRemaining: number | null;
+}
+
+export function estimateSimulationProcessing(
+  project: SimulationProject,
+  nowMilliseconds = Date.now(),
+): SimulationProcessingEstimate | null {
+  if (project.status !== "processing") return null;
+  const jobStarted = Date.parse(project.provider.jobCreatedAtUtc ?? "");
+  if (!Number.isFinite(jobStarted)) return null;
+  const elapsedSeconds = Math.max(0, (nowMilliseconds - jobStarted) / 1_000);
+  const sourceScale = clamp(
+    project.source.totalByteLength / REFERENCE_SOURCE_BYTES,
+    0.1,
+    4,
+  );
+  let expectedSeconds = (
+    REFERENCE_PREPARATION_SECONDS + REFERENCE_STREAM_SECONDS
+  ) * sourceScale;
+  if (project.provider.state === "building_streamed_sog") {
+    const streamedStarted = Date.parse(project.provider.stateStartedAtUtc ?? "");
+    if (Number.isFinite(streamedStarted) && streamedStarted >= jobStarted) {
+      const preparationSeconds = Math.max(1, (streamedStarted - jobStarted) / 1_000);
+      const observedLoad = clamp(
+        preparationSeconds / (REFERENCE_PREPARATION_SECONDS * sourceScale),
+        0.5,
+        2,
+      );
+      expectedSeconds = preparationSeconds
+        + REFERENCE_STREAM_SECONDS * sourceScale * observedLoad;
+    }
+  }
+  const rawPercent = expectedSeconds > 0 ? elapsedSeconds / expectedSeconds * 100 : 0;
+  if (rawPercent >= 100) {
+    return { percent: 99, estimatedSecondsRemaining: null };
+  }
+  return {
+    percent: Math.max(1, Math.floor(rawPercent)),
+    estimatedSecondsRemaining: Math.max(0, Math.ceil(expectedSeconds - elapsedSeconds)),
+  };
+}
 
 export async function fetchSimulationProjects(signal?: AbortSignal): Promise<SimulationProject[]> {
   const response = await fetch(API_ROOT, { signal, cache: "no-store" });
@@ -107,6 +187,15 @@ export async function createAndUploadSimulationProject(
   sceneType: SimulationSceneType,
   candidates: SimulationUploadCandidate[],
   onProgress: (progress: SimulationUploadProgress) => void,
+): Promise<SimulationProject> {
+  const project = await createSimulationProject(name, sceneType, candidates);
+  return uploadSimulationProjectSource(project, candidates, onProgress);
+}
+
+export async function createSimulationProject(
+  name: string,
+  sceneType: SimulationSceneType,
+  candidates: SimulationUploadCandidate[],
 ): Promise<SimulationProject> {
   const sourceKind = sourceKindFor(candidates);
   const createdResponse = await fetch(API_ROOT, {
@@ -123,36 +212,85 @@ export async function createAndUploadSimulationProject(
       })),
     }),
   });
-  let project = parseProject(await jsonResponse(createdResponse));
+  return parseProject(await jsonResponse(createdResponse));
+}
+
+export async function uploadSimulationProjectSource(
+  project: SimulationProject,
+  candidates: SimulationUploadCandidate[],
+  onProgress: (progress: SimulationUploadProgress) => void,
+  signal?: AbortSignal,
+): Promise<SimulationProject> {
   const byPath = new Map(candidates.map((candidate) => [candidate.logicalPath, candidate.file]));
   const totalBytes = candidates.reduce((total, candidate) => total + candidate.file.size, 0);
   let confirmedBytes = 0;
+  let sampleBytes = 0;
+  let sampleAt = performance.now();
+  let smoothedBytesPerSecond: number | null = null;
+  const reportProgress = (currentPath: string) => {
+    const remainingBytes = Math.max(0, totalBytes - confirmedBytes);
+    onProgress({
+      uploadedBytes: confirmedBytes,
+      totalBytes,
+      currentPath,
+      bytesPerSecond: smoothedBytesPerSecond,
+      estimatedSecondsRemaining: smoothedBytesPerSecond && remainingBytes > 0
+        ? Math.ceil(remainingBytes / smoothedBytesPerSecond)
+        : remainingBytes === 0 ? 0 : null,
+    });
+  };
   for (const sourceFile of project.source.files) {
+    signal?.throwIfAborted();
     const file = byPath.get(sourceFile.logicalPath);
     if (!file) throw new Error(`Сервер изменил состав источника: ${sourceFile.logicalPath}`);
     const uploadUrl = `${API_ROOT}/${encodeURIComponent(project.projectId)}/source/${encodeURIComponent(sourceFile.fileId)}`;
-    let offset = await readUploadOffset(uploadUrl, file.size);
+    let offset = await readUploadOffset(uploadUrl, file.size, signal);
     confirmedBytes += offset;
-    onProgress({ uploadedBytes: confirmedBytes, totalBytes, currentPath: sourceFile.logicalPath });
+    sampleBytes = confirmedBytes;
+    sampleAt = performance.now();
+    reportProgress(sourceFile.logicalPath);
     while (offset < file.size) {
+      signal?.throwIfAborted();
       const nextOffset = Math.min(file.size, offset + CHUNK_BYTES);
-      const confirmedOffset = await uploadChunk(uploadUrl, file, offset, nextOffset);
+      const confirmedOffset = await uploadChunk(uploadUrl, file, offset, nextOffset, signal);
       confirmedBytes += confirmedOffset - offset;
       offset = confirmedOffset;
-      onProgress({ uploadedBytes: confirmedBytes, totalBytes, currentPath: sourceFile.logicalPath });
+      const now = performance.now();
+      const elapsedSeconds = (now - sampleAt) / 1_000;
+      const transferredBytes = confirmedBytes - sampleBytes;
+      if (elapsedSeconds > 0 && transferredBytes > 0) {
+        const currentBytesPerSecond = transferredBytes / elapsedSeconds;
+        smoothedBytesPerSecond = smoothedBytesPerSecond === null
+          ? currentBytesPerSecond
+          : smoothedBytesPerSecond * 0.7 + currentBytesPerSecond * 0.3;
+      }
+      sampleBytes = confirmedBytes;
+      sampleAt = now;
+      reportProgress(sourceFile.logicalPath);
     }
   }
-  const buildResponse = await fetch(`${API_ROOT}/${encodeURIComponent(project.projectId)}/build`, {
+  return startSimulationProjectBuild(project.projectId, signal);
+}
+
+export async function startSimulationProjectBuild(
+  projectId: string,
+  signal?: AbortSignal,
+): Promise<SimulationProject> {
+  const buildResponse = await fetch(`${API_ROOT}/${encodeURIComponent(projectId)}/build`, {
     method: "POST",
     headers: { "Content-Type": "application/json" },
     body: "{}",
+    signal,
   });
-  project = parseProject(await jsonResponse(buildResponse));
-  return project;
+  return parseProject(await jsonResponse(buildResponse));
 }
 
-async function readUploadOffset(uploadUrl: string, fileSize: number): Promise<number> {
-  const head = await fetch(uploadUrl, { method: "HEAD", cache: "no-store" });
+async function readUploadOffset(
+  uploadUrl: string,
+  fileSize: number,
+  signal?: AbortSignal,
+): Promise<number> {
+  const head = await fetch(uploadUrl, { method: "HEAD", cache: "no-store", signal });
   if (!head.ok) await jsonResponse(head);
   const value = head.headers.get("Upload-Offset");
   if (!value || !/^\d+$/.test(value)) {
@@ -170,11 +308,13 @@ async function uploadChunk(
   file: File,
   offset: number,
   nextOffset: number,
+  signal?: AbortSignal,
 ): Promise<number> {
   let lastFailure: unknown = null;
   for (let attempt = 1; attempt <= MAX_UPLOAD_ATTEMPTS; attempt += 1) {
     let response: Response | null = null;
     try {
+      signal?.throwIfAborted();
       response = await fetch(uploadUrl, {
         method: "PATCH",
         headers: {
@@ -182,8 +322,10 @@ async function uploadChunk(
           "Upload-Offset": String(offset),
         },
         body: file.slice(offset, nextOffset),
+        signal,
       });
     } catch (caught) {
+      if (signal?.aborted) throw caught;
       lastFailure = caught;
     }
     if (response?.ok) {
@@ -203,7 +345,7 @@ async function uploadChunk(
       lastFailure = new Error(`Mission Core временно вернул HTTP ${response.status}.`);
     }
     try {
-      const confirmed = await readUploadOffset(uploadUrl, file.size);
+      const confirmed = await readUploadOffset(uploadUrl, file.size, signal);
       if (confirmed === nextOffset) return confirmed;
       if (confirmed !== offset) {
         throw new Error("Сервер подтвердил неожиданное смещение загрузки.");
@@ -246,26 +388,32 @@ export async function saveSimulationViewerSettings(
       body: JSON.stringify({
         schema_version: settings.schemaVersion,
         quality: settings.quality,
-        visual: settings.visual,
-        collision: settings.collision,
+        visual: { rotation_degrees: settings.visual.rotationDegrees },
+        collision: { rotation_degrees: settings.collision.rotationDegrees },
         camera: {
           invert_horizontal: settings.camera.invertHorizontal,
           invert_vertical: settings.camera.invertVertical,
         },
+        ugv: {
+          preset_name: settings.ugv.presetName,
+          mass_kg: settings.ugv.massKg,
+          dimensions_m: {
+            length: settings.ugv.dimensionsMeters.length,
+            width: settings.ugv.dimensionsMeters.width,
+            height: settings.ugv.dimensionsMeters.height,
+            ground_clearance: settings.ugv.dimensionsMeters.groundClearance,
+          },
+          max_speed_mps: settings.ugv.maxSpeedMetersPerSecond,
+          max_turn_rate_degrees: settings.ugv.maxTurnRateDegrees,
+          invert_steering: settings.ugv.invertSteering,
+        },
       }),
     },
   );
   return parseProject(await jsonResponse(response));
 }
 
-export async function retrySimulationProject(projectId: string): Promise<SimulationProject> {
-  const response = await fetch(`${API_ROOT}/${encodeURIComponent(projectId)}/build`, {
-    method: "POST",
-    headers: { "Content-Type": "application/json" },
-    body: "{}",
-  });
-  return parseProject(await jsonResponse(response));
-}
+export const retrySimulationProject = startSimulationProjectBuild;
 
 export async function deleteSimulationProject(projectId: string): Promise<void> {
   const response = await fetch(`${API_ROOT}/${encodeURIComponent(projectId)}`, { method: "DELETE" });
@@ -321,7 +469,9 @@ function parseProject(value: unknown): SimulationProject {
     provider: {
       providerId: provider.provider_id === "gaussian-pipeline" ? "gaussian-pipeline" : invalid("provider id"),
       jobId: nullableString(provider.job_id, "provider job id"),
+      jobCreatedAtUtc: nullableString(provider.job_created_at_utc ?? null, "provider job creation"),
       state: nullableString(provider.state, "provider state"),
+      stateStartedAtUtc: nullableString(provider.state_started_at_utc ?? null, "provider state start"),
       progress: provider.progress === null ? null : objectValue(provider.progress, "provider progress"),
       runtime: provider.runtime === null ? null : objectValue(provider.runtime, "provider runtime"),
     },
@@ -345,16 +495,17 @@ function parseProject(value: unknown): SimulationProject {
 
 function parseViewerSettings(value: unknown): SimulationViewerSettings {
   const record = objectValue(value, "viewer settings");
-  exactKeys(record, ["schema_version", "quality", "visual", "collision", "camera"], "viewer settings");
-  if (record.schema_version !== "missioncore.simulation-viewer-settings/v1") {
+  exactKeys(record, ["schema_version", "quality", "visual", "collision", "camera", "ugv"], "viewer settings");
+  if (record.schema_version !== "missioncore.simulation-viewer-settings/v3") {
     throw new Error("Настройки сцены вернули неподдерживаемую версию.");
   }
   const visual = parseLayerViewerSettings(record.visual, "visual settings");
   const collision = parseLayerViewerSettings(record.collision, "collision settings");
   const camera = objectValue(record.camera, "camera settings");
   exactKeys(camera, ["invert_horizontal", "invert_vertical"], "camera settings");
+  const ugv = parseUgvPreset(record.ugv);
   return {
-    schemaVersion: "missioncore.simulation-viewer-settings/v1",
+    schemaVersion: "missioncore.simulation-viewer-settings/v3",
     quality: qualityValue(record.quality),
     visual,
     collision,
@@ -362,18 +513,88 @@ function parseViewerSettings(value: unknown): SimulationViewerSettings {
       invertHorizontal: booleanValue(camera.invert_horizontal, "horizontal camera inversion"),
       invertVertical: booleanValue(camera.invert_vertical, "vertical camera inversion"),
     },
+    ugv,
+  };
+}
+
+function parseUgvPreset(value: unknown): SimulationUgvPreset {
+  const record = objectValue(value, "UGV settings");
+  exactKeys(
+    record,
+    ["preset_name", "mass_kg", "dimensions_m", "max_speed_mps", "max_turn_rate_degrees", "invert_steering"],
+    "UGV settings",
+  );
+  const dimensions = objectValue(record.dimensions_m, "UGV dimensions");
+  exactKeys(dimensions, ["length", "width", "height", "ground_clearance"], "UGV dimensions");
+  const presetName = stringValue(record.preset_name, "UGV preset name");
+  if (presetName.length > 80) return invalid("UGV preset name");
+  const height = finiteNumberValue(
+    dimensions.height,
+    SIMULATION_UGV_EXACT_VALUE_LIMITS.height.min,
+    SIMULATION_UGV_EXACT_VALUE_LIMITS.height.max,
+    "UGV height",
+  );
+  const groundClearance = finiteNumberValue(
+    dimensions.ground_clearance,
+    SIMULATION_UGV_EXACT_VALUE_LIMITS.groundClearance.min,
+    SIMULATION_UGV_EXACT_VALUE_LIMITS.groundClearance.max,
+    "UGV ground clearance",
+  );
+  if (groundClearance >= height - 0.05) return invalid("UGV ground clearance");
+  return {
+    presetName,
+    massKg: finiteNumberValue(
+      record.mass_kg,
+      SIMULATION_UGV_EXACT_VALUE_LIMITS.massKg.min,
+      SIMULATION_UGV_EXACT_VALUE_LIMITS.massKg.max,
+      "UGV mass",
+    ),
+    dimensionsMeters: {
+      length: finiteNumberValue(
+        dimensions.length,
+        SIMULATION_UGV_EXACT_VALUE_LIMITS.length.min,
+        SIMULATION_UGV_EXACT_VALUE_LIMITS.length.max,
+        "UGV length",
+      ),
+      width: finiteNumberValue(
+        dimensions.width,
+        SIMULATION_UGV_EXACT_VALUE_LIMITS.width.min,
+        SIMULATION_UGV_EXACT_VALUE_LIMITS.width.max,
+        "UGV width",
+      ),
+      height,
+      groundClearance,
+    },
+    maxSpeedMetersPerSecond: finiteNumberValue(
+      record.max_speed_mps,
+      SIMULATION_UGV_EXACT_VALUE_LIMITS.maxSpeedMetersPerSecond.min,
+      SIMULATION_UGV_EXACT_VALUE_LIMITS.maxSpeedMetersPerSecond.max,
+      "UGV maximum speed",
+    ),
+    maxTurnRateDegrees: finiteNumberValue(
+      record.max_turn_rate_degrees,
+      SIMULATION_UGV_EXACT_VALUE_LIMITS.maxTurnRateDegrees.min,
+      SIMULATION_UGV_EXACT_VALUE_LIMITS.maxTurnRateDegrees.max,
+      "UGV maximum turn rate",
+    ),
+    invertSteering: booleanValue(record.invert_steering, "UGV steering inversion"),
   };
 }
 
 function parseLayerViewerSettings(
   value: unknown,
   label: string,
-): { inverted: boolean; axis: SimulationTransformAxis } {
+): { rotationDegrees: SimulationEulerRotation } {
   const record = objectValue(value, label);
-  exactKeys(record, ["inverted", "axis"], label);
+  exactKeys(record, ["rotation_degrees"], label);
+  const rotation = objectValue(record.rotation_degrees, `${label} rotation`);
+  exactKeys(rotation, ["x", "y", "z"], `${label} rotation`);
   return {
-    inverted: booleanValue(record.inverted, `${label} inversion`),
-    axis: axisValue(record.axis),
+    rotationDegrees: {
+      x: rotationValue(rotation.x, `${label} X rotation`),
+      y: rotationValue(rotation.y, `${label} Y rotation`),
+      z: rotationValue(rotation.z, `${label} Z rotation`),
+    },
   };
 }
 
@@ -466,9 +687,18 @@ function sceneTypeValue(value: unknown): SimulationSceneType {
   return invalid("scene type");
 }
 
-function axisValue(value: unknown): SimulationTransformAxis {
-  if (value === "x" || value === "y" || value === "z") return value;
-  return invalid("transform axis");
+function rotationValue(value: unknown, label: string): number {
+  if (typeof value === "number" && Number.isFinite(value) && value >= -360 && value <= 360) {
+    return value;
+  }
+  return invalid(label);
+}
+
+function finiteNumberValue(value: unknown, minimum: number, maximum: number, label: string): number {
+  if (typeof value === "number" && Number.isFinite(value) && value >= minimum && value <= maximum) {
+    return value;
+  }
+  return invalid(label);
 }
 
 function qualityValue(value: unknown): SimulationViewerQuality {
@@ -488,3 +718,7 @@ function statusValue(value: unknown): SimulationProjectStatus {
 function invalid(label: string): never {
   throw new Error(`Некорректный ${label}.`);
 }
+
+function clamp(value: number, minimum: number, maximum: number): number {
+  return Math.min(maximum, Math.max(minimum, value));
+}

apps/control-station/src/core/simulation/sourceFiles.ts

@@ -0,0 +1,146 @@
+import type { SimulationUploadCandidate } from "./projects";
+
+const ARCHIVE_PATTERN = /\.(zip|rar|7z)$/i;
+export const MAX_SIMULATION_SOURCE_BYTES = 16 * 1024 ** 3;
+
+interface LegacyFileEntry {
+  isFile: boolean;
+  isDirectory: boolean;
+  name: string;
+  fullPath: string;
+  file?: (callback: (file: File) => void, error?: (error: DOMException) => void) => void;
+  createReader?: () => LegacyDirectoryReader;
+}
+
+interface LegacyDirectoryReader {
+  readEntries: (
+    callback: (entries: LegacyFileEntry[]) => void,
+    error?: (error: DOMException) => void,
+  ) => void;
+}
+
+export async function candidatesFromDrop(
+  transfer: DataTransfer,
+): Promise<SimulationUploadCandidate[]> {
+  const candidates: SimulationUploadCandidate[] = [];
+  for (const item of Array.from(transfer.items)) {
+    const entry = (item as DataTransferItem & {
+      webkitGetAsEntry?: () => LegacyFileEntry | null;
+    }).webkitGetAsEntry?.();
+    if (entry?.isDirectory) {
+      await collectEntry(entry, candidates);
+      continue;
+    }
+    const file = item.getAsFile();
+    if (file) {
+      candidates.push({ file, logicalPath: file.name });
+      continue;
+    }
+    if (entry) await collectEntry(entry, candidates);
+  }
+  if (!candidates.length) {
+    for (const file of Array.from(transfer.files)) {
+      candidates.push({ file, logicalPath: file.name });
+    }
+  }
+  return candidates;
+}
+
+export async function archivesFromDrop(transfer: DataTransfer): Promise<File[]> {
+  const candidates = await candidatesFromDrop(transfer);
+  const invalid = candidates.filter((candidate) => !ARCHIVE_PATTERN.test(candidate.logicalPath));
+  if (invalid.length) {
+    throw new Error("В каталог можно перетащить только отдельные архивы ZIP, RAR или 7z.");
+  }
+  if (!candidates.length) {
+    throw new Error("В перетаскивании не найдено архивов ZIP, RAR или 7z.");
+  }
+  for (const candidate of candidates) {
+    if (candidate.logicalPath.includes("/")) {
+      throw new Error("Перетащите сами архивы, а не содержащую их папку.");
+    }
+    if (candidate.file.size <= 0) {
+      throw new Error(`Пустой архив: ${candidate.file.name}`);
+    }
+    if (candidate.file.size > MAX_SIMULATION_SOURCE_BYTES) {
+      throw new Error(`Архив ${candidate.file.name} превышает лимит 16 ГБ.`);
+    }
+  }
+  return candidates.map((candidate) => candidate.file);
+}
+
+export function validateSimulationCandidates(candidates: SimulationUploadCandidate[]): void {
+  if (!candidates.length) throw new Error("Выберите архив или папку с результатом LCC/LCC2.");
+  const archives = candidates.filter((candidate) => ARCHIVE_PATTERN.test(candidate.logicalPath));
+  if (archives.length) {
+    if (candidates.length !== 1) throw new Error("Архив нужно загружать одним файлом.");
+    if (archives[0]!.file.size <= 0) throw new Error(`Пустой файл: ${archives[0]!.logicalPath}`);
+    if (archives[0]!.file.size > MAX_SIMULATION_SOURCE_BYTES) {
+      throw new Error(`Архив ${archives[0]!.logicalPath} превышает лимит 16 ГБ.`);
+    }
+    return;
+  }
+  const descriptors = candidates.filter((candidate) => /\.lcc2?$/i.test(candidate.logicalPath));
+  if (descriptors.length !== 1) {
+    throw new Error("В папке должна быть ровно одна сцена .lcc или .lcc2.");
+  }
+  const paths = new Set<string>();
+  let totalBytes = 0;
+  for (const candidate of candidates) {
+    const parts = candidate.logicalPath.split("/");
+    if (
+      !candidate.logicalPath
+      || candidate.logicalPath.startsWith("/")
+      || candidate.logicalPath.includes("\\")
+      || candidate.logicalPath.includes("\0")
+      || parts.some((part) => part === "" || part === "." || part === "..")
+    ) {
+      throw new Error("Папка содержит небезопасный путь.");
+    }
+    if (candidate.file.size <= 0) throw new Error(`Пустой файл: ${candidate.logicalPath}`);
+    totalBytes += candidate.file.size;
+    if (paths.has(candidate.logicalPath)) throw new Error(`Повторяющийся путь: ${candidate.logicalPath}`);
+    paths.add(candidate.logicalPath);
+  }
+  if (totalBytes > MAX_SIMULATION_SOURCE_BYTES) {
+    throw new Error("Папка с исходниками превышает лимит 16 ГБ.");
+  }
+}
+
+export function hasDroppedFiles(transfer: DataTransfer): boolean {
+  return transfer.files.length > 0
+    || Array.from(transfer.items).some((item) => item.kind === "file")
+    || Array.from(transfer.types).some((type) => type.toLowerCase() === "files");
+}
+
+export function archiveProjectName(fileName: string): string {
+  const name = fileName.replace(ARCHIVE_PATTERN, "").trim();
+  return name || "Новая сцена";
+}
+
+function collectEntry(
+  entry: LegacyFileEntry,
+  target: SimulationUploadCandidate[],
+): Promise<void> {
+  if (entry.isFile && entry.file) {
+    return new Promise<File>((resolve, reject) => entry.file?.(resolve, reject))
+      .then((file) => {
+        target.push({ file, logicalPath: entry.fullPath.replace(/^\//, "") || file.name });
+      });
+  }
+  if (!entry.isDirectory || !entry.createReader) return Promise.resolve();
+  return collectDirectory(entry.createReader(), target);
+}
+
+async function collectDirectory(
+  reader: LegacyDirectoryReader,
+  target: SimulationUploadCandidate[],
+): Promise<void> {
+  while (true) {
+    const batch = await new Promise<LegacyFileEntry[]>((resolve, reject) => {
+      reader.readEntries(resolve, reject);
+    });
+    if (!batch.length) return;
+    for (const child of batch) await collectEntry(child, target);
+  }
+}

apps/control-station/src/productModel.ts

@@ -161,7 +161,7 @@ export const workspaces: WorkspaceDefinition[] = [
     label: "Симуляции",
     title: "Симуляции",
     eyebrow: "ТЕСТОВЫЙ КОНТУР / СИМУЛЯЦИИ",
-    description: "Каталог Gaussian-миров, переносимые сборки и интерактивные PlayCanvas-сцены.",
+    description: "Каталог Gaussian-миров, переносимые сборки и интерактивные сцены.",
     icon: "globe",
     kind: "simulations",
     groups: [],

apps/control-station/src/styles/m4-replay-threat.css

@@ -91,6 +91,11 @@
   justify-content: space-between;
 }
 
+.m4-replay-threat-evidence-viewer[data-mode-controls="content"]
+  .m4-replay-threat-visual__pane-toolbar[data-pane-toolbar="spatial"] {
+  right: 3.8rem;
+}
+
 .m4-replay-threat-visual__pane-toolbar > *,
 .m4-replay-threat-visual__spatial-toolbar-end > * {
   pointer-events: auto;
@@ -231,9 +236,10 @@
   box-sizing: border-box;
   min-width: 0;
   align-items: stretch;
-  width: max-content;
-  max-width: calc(var(--m4-replay-threat-overlay-pane-width, 100%) - 1.2rem);
-  grid-template-columns: minmax(0, max-content);
+  width: min(17.5rem, calc(var(--m4-replay-threat-overlay-pane-width, 100%) - 1.2rem));
+  max-width: none;
+  grid-auto-rows: 3.8rem;
+  grid-template-columns: minmax(0, 1fr);
   gap: 0.3rem;
   overflow: hidden;
   background: transparent;
@@ -242,6 +248,9 @@
 }
 
 .m4-replay-threat-visual__overlay > div {
+  box-sizing: border-box;
+  height: 3.8rem;
+  grid-template-rows: auto auto minmax(1.32rem, 1fr);
   border-radius: var(--nodedc-radius-control-compact);
   background: color-mix(in srgb, var(--nodedc-floating-surface) 80%, transparent);
   padding: 0.55rem 0.65rem;
@@ -249,15 +258,24 @@
 }
 
 .m4-replay-threat-visual__overlay span,
-.m4-replay-threat-visual__overlay strong,
-.m4-replay-threat-visual__overlay small {
+.m4-replay-threat-visual__overlay strong {
   overflow: hidden;
   text-overflow: ellipsis;
   white-space: nowrap;
 }
 
+.m4-replay-threat-visual__overlay small {
+  display: -webkit-box;
+  min-height: 1.32rem;
+  overflow: hidden;
+  -webkit-box-orient: vertical;
+  -webkit-line-clamp: 2;
+  white-space: normal;
+}
+
 @media (max-width: 900px) {
   .m4-replay-threat-visual__overlay {
+    width: min(17.5rem, calc(100% - 1.2rem));
     max-width: calc(100% - 1.2rem);
   }
 }
@@ -350,3 +368,30 @@
   background: rgb(var(--nodedc-accent-rgb));
   opacity: 0.72;
 }
+
+.laboratory-metric-evidence-scene__legend span[data-decision="ground-support"]::before {
+  background: rgb(var(--nodedc-success-rgb));
+}
+
+.laboratory-metric-evidence-scene__legend span[data-decision="nonground-occupied"]::before {
+  background: rgb(var(--nodedc-danger-rgb));
+}
+
+.laboratory-metric-evidence-scene__legend span[data-decision="unknown-rejected"]::before {
+  background: rgb(var(--nodedc-warning-rgb));
+}
+
+.laboratory-metric-evidence-scene__legend span[data-decision="unobserved"]::before {
+  background: var(--nodedc-text-muted);
+  opacity: 0.42;
+}
+
+.laboratory-metric-evidence-scene__legend span[data-decision="performance"] {
+  font-variant-numeric: tabular-nums;
+}
+
+.laboratory-metric-evidence-scene__legend span[data-decision="performance"]::before {
+  box-sizing: border-box;
+  border: 1px solid rgb(var(--nodedc-accent-rgb));
+  background: transparent;
+}

apps/control-station/src/styles/simulation.css

@@ -1,6 +1,8 @@
 .simulation-workspace {
   display: grid;
+  height: 100%;
   min-width: 0;
+  grid-template-rows: auto minmax(0, 1fr);
   gap: 0.9rem;
   padding-bottom: 1rem;
 }
@@ -17,6 +19,7 @@
 .simulation-viewport__notice,
 .simulation-catalog__summary,
 .simulation-catalog__state,
+.simulation-catalog__notice,
 .simulation-catalog__actions,
 .simulation-project-window__footer-state,
 .simulation-source-drop > div,
@@ -60,7 +63,10 @@
 }
 
 .simulation-catalog {
+  position: relative;
   display: grid;
+  min-height: 0;
+  align-content: start;
   gap: 0.55rem;
   min-width: 0;
 }
@@ -100,23 +106,28 @@
 .simulation-catalog__table-wrap {
   overflow: auto;
   border-radius: 1rem;
-  background: rgb(255 255 255 / 0.025);
+  background: transparent;
 }
 
 .simulation-catalog__table {
   width: 100%;
-  min-width: 62rem;
-  border-collapse: collapse;
+  min-width: 52rem;
+  border-collapse: separate;
+  border-spacing: 0 0.34rem;
 }
 
 .simulation-catalog__table th,
 .simulation-catalog__table td {
-  border-bottom: 1px solid var(--station-hairline);
   padding: 0.72rem 0.8rem;
   text-align: left;
   vertical-align: middle;
 }
 
+.simulation-catalog__table th {
+  padding-top: 0.2rem;
+  padding-bottom: 0.18rem;
+}
+
 .simulation-catalog__table th:first-child,
 .simulation-catalog__table td:first-child {
   padding-left: 1rem;
@@ -124,6 +135,8 @@
 
 .simulation-catalog__table th:last-child,
 .simulation-catalog__table td:last-child {
+  width: 6.4rem;
+  min-width: 6.4rem;
   padding-right: 1rem;
 }
 
@@ -131,12 +144,21 @@
   transition: background var(--nodedc-duration-fast) var(--nodedc-ease-standard);
 }
 
-.simulation-catalog__table tbody tr:hover {
+.simulation-catalog__table tbody td {
   background: rgb(255 255 255 / 0.025);
+  transition: background var(--nodedc-duration-fast) var(--nodedc-ease-standard);
 }
 
-.simulation-catalog__table tbody tr:last-child td {
-  border-bottom: 0;
+.simulation-catalog__table tbody tr:hover td {
+  background: rgb(255 255 255 / 0.045);
+}
+
+.simulation-catalog__table tbody td:first-child {
+  border-radius: 0.85rem 0 0 0.85rem;
+}
+
+.simulation-catalog__table tbody td:last-child {
+  border-radius: 0 0.85rem 0.85rem 0;
 }
 
 .simulation-catalog__table td {
@@ -156,7 +178,7 @@
   display: flex;
   align-items: center;
   gap: 0.65rem;
-  min-width: 14rem;
+  min-width: 11rem;
   border: 0;
   background: transparent;
   color: inherit;
@@ -165,16 +187,26 @@
   cursor: pointer;
 }
 
+.simulation-catalog__table td:first-child > button > span:last-child {
+  min-width: 0;
+}
+
 .simulation-catalog__table td:first-child > button strong {
   display: block;
   max-width: 20rem;
-  overflow: hidden;
+  overflow: clip;
   color: var(--nodedc-text-primary);
   font-size: 0.7rem;
   text-overflow: ellipsis;
   white-space: nowrap;
 }
 
+.simulation-catalog__table td:first-child > button small {
+  overflow: hidden;
+  text-overflow: ellipsis;
+  white-space: nowrap;
+}
+
 .simulation-catalog__project-icon,
 .simulation-catalog__empty > span {
   display: grid;
@@ -188,10 +220,53 @@
 }
 
 .simulation-catalog__actions {
+  display: flex;
   justify-content: flex-end;
   gap: 0.28rem;
 }
 
+.simulation-catalog__progress {
+  display: grid;
+  min-width: 0;
+  gap: 0.26rem;
+}
+
+.simulation-catalog__progress-meta,
+.simulation-catalog__progress-stage {
+  overflow: hidden;
+  color: var(--nodedc-text-muted);
+  font-size: 0.54rem;
+  text-overflow: ellipsis;
+  white-space: nowrap;
+}
+
+.simulation-catalog__progress-track {
+  position: relative;
+  overflow: hidden;
+  width: 100%;
+  height: 0.3rem;
+  border-radius: 999px;
+  background: rgb(255 255 255 / 0.08);
+}
+
+.simulation-catalog__progress-track i {
+  position: absolute;
+  inset: 0 auto 0 0;
+  min-width: 0;
+  border-radius: inherit;
+  background: rgb(var(--nodedc-accent-rgb));
+  transition: width var(--nodedc-duration-fast) var(--nodedc-ease-standard);
+}
+
+.simulation-catalog__progress[data-indeterminate="true"] .simulation-catalog__progress-track i {
+  width: 28% !important;
+  animation: simulation-progress-pulse 1.6s ease-in-out infinite;
+}
+
+.simulation-catalog__progress-stage {
+  font-size: 0.52rem;
+}
+
 .simulation-catalog__state,
 .simulation-catalog__empty {
   min-height: 20rem;
@@ -203,6 +278,67 @@
   font-size: 0.65rem;
 }
 
+.simulation-catalog__notice {
+  justify-content: flex-start;
+  gap: 0.55rem;
+  border-radius: 0.85rem;
+  background: rgb(var(--nodedc-danger-rgb) / 0.08);
+  color: var(--nodedc-danger);
+  padding: 0.7rem 0.85rem;
+  font-size: 0.62rem;
+}
+
+.simulation-catalog__drop-overlay {
+  position: absolute;
+  z-index: 4;
+  inset: 0;
+  display: grid;
+  place-content: center;
+  justify-items: center;
+  gap: 0.55rem;
+  border-radius: 1rem;
+  background: var(--nodedc-canvas);
+  color: var(--nodedc-text-muted);
+  text-align: center;
+}
+
+.simulation-catalog__drop-mark {
+  display: grid;
+  width: 4rem;
+  height: 4rem;
+  margin-bottom: 0.25rem;
+  place-items: center;
+  border-radius: 50%;
+  background: var(--nodedc-glass-control-active);
+  color: var(--nodedc-glass-control-active-text);
+}
+
+.simulation-catalog__drop-overlay strong {
+  color: var(--nodedc-text-primary);
+  font-size: 0.86rem;
+}
+
+.simulation-catalog__drop-overlay span {
+  font-size: 0.64rem;
+}
+
+.simulation-catalog__drop-overlay small {
+  color: var(--nodedc-text-muted);
+  font-size: 0.56rem;
+}
+
+@keyframes simulation-progress-pulse {
+  from { transform: translateX(-105%); }
+  to { transform: translateX(360%); }
+}
+
+@media (prefers-reduced-motion: reduce) {
+  .simulation-catalog__progress[data-indeterminate="true"] .simulation-catalog__progress-track i {
+    animation: none;
+    transform: translateX(0);
+  }
+}
+
 .simulation-catalog__state > div {
   display: grid;
   gap: 0.2rem;
@@ -342,6 +478,9 @@
 }
 
 .simulation-viewport__toolbar {
+  position: sticky;
+  z-index: 10;
+  top: 0;
   display: grid;
   grid-template-columns: minmax(12rem, 1fr) auto minmax(12rem, 1fr);
   align-items: center;
@@ -379,19 +518,34 @@
   top: calc(100% + 0.65rem);
   right: 0;
   display: grid;
+  grid-template-rows: auto minmax(0, 1fr);
   width: min(21rem, calc(100cqw - 1.3rem));
-  gap: 0.75rem;
-  border-radius: 0.9rem;
-  background: rgb(25 27 31 / 0.98);
-  box-shadow: 0 1rem 3rem rgb(0 0 0 / 0.42);
-  padding: 0.8rem;
+  max-height: min(44rem, calc(100vh - 7rem));
+  overflow: clip;
+  gap: 0;
+  padding: 0;
 }
 
 .simulation-viewport__settings-head {
+  position: relative;
+  z-index: 2;
   display: flex;
   align-items: center;
   justify-content: space-between;
   gap: 0.75rem;
+  background: var(--nodedc-glass-panel-bg-strong);
+  padding: 0.8rem;
+  box-shadow: 0 0.55rem 1rem rgb(0 0 0 / 0.18);
+  backdrop-filter: blur(18px);
+}
+
+.simulation-viewport__settings-scroll {
+  display: grid;
+  min-height: 0;
+  overflow-y: auto;
+  overscroll-behavior: contain;
+  gap: 0.75rem;
+  padding: 0.75rem 0.8rem 0.8rem;
 }
 
 .simulation-viewport__settings-head > div,
@@ -440,16 +594,49 @@
   gap: 0.55rem;
 }
 
-.simulation-viewport__settings-layer-row {
+.simulation-viewport__settings-rotations {
   display: grid;
-  grid-template-columns: minmax(0, 1fr) 4.5rem;
-  align-items: center;
-  gap: 0.55rem;
+  gap: 0.7rem;
 }
 
-.simulation-viewport__axis-select {
-  width: 4.5rem;
-  min-width: 0;
+.simulation-viewport__rotation-row {
+  display: grid;
+  gap: 0.4rem;
+}
+
+.simulation-viewport__rotation-row > strong {
+  color: var(--nodedc-text-secondary);
+  font-size: 0.6rem;
+}
+
+.simulation-viewport__rotation-fields {
+  display: grid;
+  grid-template-columns: repeat(3, minmax(0, 1fr));
+  gap: 0.45rem;
+}
+
+.simulation-viewport__rotation-field {
+  gap: 0.22rem;
+}
+
+.simulation-viewport__rotation-field .nodedc-field__label-row {
+  padding-inline: 0.15rem;
+}
+
+.simulation-viewport__rotation-field .nodedc-field__label {
+  font-size: 0.54rem;
+}
+
+.simulation-viewport__rotation-input {
+  min-height: 1.75rem;
+  padding: 0.2rem 0.55rem;
+  font-size: 0.64rem;
+  text-align: right;
+}
+
+.simulation-viewport__rotation-input:disabled {
+  cursor: not-allowed;
+  opacity: 0.45;
 }
 
 .simulation-viewport__settings-error {
@@ -459,6 +646,30 @@
   padding: 0.55rem 0.65rem;
 }
 
+.simulation-ugv-settings {
+  gap: 0.7rem;
+}
+
+.simulation-ugv-settings__subhead {
+  display: flex;
+  align-items: baseline;
+  justify-content: space-between;
+  gap: 0.65rem;
+  margin-top: 0.1rem;
+  padding-top: 0.55rem;
+  border-top: 1px solid rgb(255 255 255 / 0.055);
+}
+
+.simulation-ugv-settings__subhead strong {
+  color: var(--nodedc-text-secondary);
+  font-size: 0.58rem;
+}
+
+.simulation-ugv-settings__save {
+  width: 100%;
+  margin-top: 0.15rem;
+}
+
 .simulation-viewport__toolbar-balance {
   min-width: 0;
 }
@@ -472,7 +683,7 @@
 .simulation-viewport__stage {
   position: relative;
   min-width: 0;
-  min-height: 30rem;
+  min-height: 18rem;
   overflow: hidden;
 }
 
@@ -491,6 +702,16 @@
   cursor: grabbing;
 }
 
+.simulation-viewport[data-control-mode="ugv"] .simulation-viewport__stage canvas,
+.simulation-viewport[data-control-mode="ugv"] .simulation-viewport__stage canvas:active {
+  cursor: grab;
+}
+
+.simulation-viewport[data-control-mode="ugv"] .simulation-viewport__stage canvas.is-orbiting,
+.simulation-viewport[data-control-mode="ugv"] .simulation-viewport__stage canvas.is-orbiting:active {
+  cursor: grabbing;
+}
+
 .simulation-viewport__stage canvas:focus-visible {
   box-shadow: inset 0 0 0 2px rgb(var(--nodedc-accent-rgb) / 0.7);
 }

apps/control-station/src/workspaces/laboratory/AdvancedLaboratoryResult.tsx

@@ -48,6 +48,9 @@ import { M48StaticOccupancyQualificationResultView } from "./M48StaticOccupancyQ
 import { M48R3StaticOccupancyShadowResultView } from "./M48R3StaticOccupancyShadowResult";
 import { M48SFixedClassDetectorResultView } from "./M48SFixedClassDetectorResult";
 import { M48TRiskQualityResultView } from "./M48TRiskQualityResult";
+import { M49TgsFailClosedResultView } from "./M49TgsFailClosedResult";
+import { M49TgsFullShadowResultView } from "./M49TgsFullShadowResult";
+import { VegetationShadowResultView } from "./VegetationShadowResult";
 
 export { isAdvancedLaboratoryWorkId };
 export type { AdvancedLaboratoryWorkId };
@@ -90,6 +93,9 @@ export function AdvancedLaboratoryResult({
   failedSessionId: string | null;
   replayError: string | null;
 }) {
+  if (workId === "lab-v1-vegetation-shadow" && results.vegetationShadow) {
+    return <VegetationShadowResultView rigLabel={rigLabel} result={results.vegetationShadow} />;
+  }
   if (workId === "m48-object-centric-quality" && results.m48) {
     return <M48ObjectCentricQualityResultView rigLabel={rigLabel} result={results.m48} />;
   }
@@ -108,6 +114,12 @@ export function AdvancedLaboratoryResult({
   if (workId === "m48t-risk-quality-temporal" && results.m48t) {
     return <M48TRiskQualityResultView rigLabel={rigLabel} result={results.m48t} />;
   }
+  if (workId === "m49-tgs-fail-closed-evidence" && results.m49Tgs) {
+    return <M49TgsFailClosedResultView rigLabel={rigLabel} result={results.m49Tgs} />;
+  }
+  if (workId === "m49-tgs-full-shadow" && results.m49TgsFull) {
+    return <M49TgsFullShadowResultView rigLabel={rigLabel} result={results.m49TgsFull} />;
+  }
   if (workId === "m47-reference-graph-shadow" && results.m47Graph) {
     return <M47ReferenceGraphResultView rigLabel={rigLabel} result={results.m47Graph} />;
   }

apps/control-station/src/workspaces/laboratory/M48FailureAtlasVisual.tsx

@@ -28,6 +28,119 @@ const ATLAS_MODES = [
 ] as const;
 type AtlasMode = typeof ATLAS_MODES[number]["value"];
 
+const MASK_COMPARISON_MODES = [
+  { value: "source", label: "SOURCE" },
+  { value: "truth", label: "TRUTH" },
+  { value: "prediction", label: "PREDICTION" },
+  { value: "error", label: "ERROR" },
+] as const;
+const MASK_COMPARISON_CANDIDATES = [
+  { value: "ddrnet", label: "DDRNET" },
+  { value: "ppliteseg", label: "PPLITE" },
+] as const;
+type MaskComparisonMode = typeof MASK_COMPARISON_MODES[number]["value"];
+type MaskComparisonCandidate = typeof MASK_COMPARISON_CANDIDATES[number]["value"];
+
+export interface M48MaskComparisonCase {
+  caseId: string;
+  title: string;
+  context?: string;
+  sourceUrl: string;
+  truthUrl: string;
+  predictions: Readonly<Record<MaskComparisonCandidate, string>>;
+  errors: Readonly<Record<MaskComparisonCandidate, string>>;
+}
+
+function M48MaskComparisonScene({
+  item,
+  mode,
+  candidate,
+}: {
+  item: M48MaskComparisonCase;
+  mode: MaskComparisonMode;
+  candidate: MaskComparisonCandidate;
+}) {
+  const overlay = mode === "truth"
+    ? item.truthUrl
+    : mode === "prediction"
+      ? item.predictions[candidate]
+      : mode === "error"
+        ? item.errors[candidate]
+        : null;
+  return (
+    <div className="recorded-evidence-image-scene">
+      <img src={item.sourceUrl} alt="" draggable={false} />
+      {overlay ? <img src={overlay} alt="" draggable={false} /> : null}
+    </div>
+  );
+}
+
+export function M48MaskComparisonVisual({
+  cases,
+  initialCandidate,
+}: {
+  cases: readonly M48MaskComparisonCase[];
+  initialCandidate: MaskComparisonCandidate;
+}) {
+  const [index, setIndex] = useState(0);
+  const [mode, setMode] = useState<MaskComparisonMode>("error");
+  const [candidate, setCandidate] = useState<MaskComparisonCandidate>(initialCandidate);
+  const [expanded, setExpanded] = useState(false);
+  const item = cases[index] ?? null;
+  return (
+    <LaboratoryEvidenceViewer
+      label="M4.8 vegetation truth comparison"
+      className="m48-atlas-visual"
+      mode={mode}
+      modes={MASK_COMPARISON_MODES}
+      secondaryMode={{
+        value: candidate,
+        modes: MASK_COMPARISON_CANDIDATES,
+        label: "Сравниваемая модель",
+        onChange: setCandidate,
+      }}
+      expanded={expanded}
+      onModeChange={setMode}
+      onExpandedChange={setExpanded}
+      chromeLayout="stacked"
+      actions={(
+        <>
+          <IconButton
+            label="Предыдущий vegetation hard case"
+            disabled={!cases.length}
+            onClick={() => setIndex((current) => (current - 1 + cases.length) % cases.length)}
+          >
+            <Icon name="chevron-left" size={16} />
+          </IconButton>
+          <IconButton
+            label="Следующий vegetation hard case"
+            disabled={!cases.length}
+            onClick={() => setIndex((current) => (current + 1) % cases.length)}
+          >
+            <Icon name="chevron-right" size={16} />
+          </IconButton>
+        </>
+      )}
+      overlay={item ? (
+        <div className="m48-atlas-visual__case">
+          <StatusBadge tone="accent">GOOSE TRUTH · {index + 1}/{cases.length}</StatusBadge>
+          <strong>{item.title}</strong>
+          {item.context ? <small>{item.context}</small> : null}
+        </div>
+      ) : null}
+    >
+      {item ? (
+        <M48MaskComparisonScene item={item} mode={mode} candidate={candidate} />
+      ) : (
+        <div className="m48-atlas-visual__state" role="alert">
+          <Icon name="alert" size={18} />
+          Vegetation hard-case каталог пуст.
+        </div>
+      )}
+    </LaboratoryEvidenceViewer>
+  );
+}
+
 function message(error: unknown): string {
   return error instanceof Error && error.message.trim() ? error.message : "M4.8 evidence недоступно.";
 }

apps/control-station/src/workspaces/laboratory/M49TgsFailClosedEvidence.tsx

@@ -0,0 +1,152 @@
+import { useCallback, useEffect, useMemo, useRef, useState } from "react";
+
+import type {
+  RecordedEvidenceSemanticClass,
+  RecordedEvidenceSemanticPaletteEntry,
+} from "../../components/laboratory/RecordedEvidenceSemanticMaskOverlay";
+import {
+  fetchM49TgsAnchorSpatial,
+  type M49TgsAnchorSpatial,
+  type M49TgsFailClosedResult,
+  type M49TgsStateCode,
+} from "../../core/laboratory/m49TgsFailClosed";
+import {
+  M4ReplayThreatVisual,
+  type M4ReplayClassifiedSpatialFrame,
+  type M4ReplayThreatReviewAnchor,
+} from "./M4ReplayThreatVisual";
+
+const CLASSES: readonly RecordedEvidenceSemanticClass[] = [
+  { id: 1, label: "Ground support" },
+  { id: 2, label: "Non-ground occupied" },
+  { id: 3, label: "Unknown / rejected" },
+];
+
+const PALETTE: readonly RecordedEvidenceSemanticPaletteEntry[] = [
+  { classId: 1, color: { kind: "token", token: "--nodedc-success-rgb" } },
+  { classId: 2, color: { kind: "token", token: "--nodedc-danger-rgb" } },
+  { classId: 3, color: { kind: "token", token: "--nodedc-warning-rgb" } },
+];
+
+function cellState(code: M49TgsStateCode): M4ReplayClassifiedSpatialFrame["cellsMapGravityLocal"][number]["state"] {
+  if (code === 1) return "ground-support";
+  if (code === 2) return "nonground-occupied";
+  if (code === 3) return "unknown-rejected";
+  return "unobserved";
+}
+
+function message(error: unknown): string {
+  return error instanceof Error && error.message.trim()
+    ? error.message
+    : "M49 TGS spatial evidence недоступно.";
+}
+
+export function M49TgsFailClosedEvidence({
+  result,
+}: {
+  result: M49TgsFailClosedResult;
+}) {
+  const [activeSequence, setActiveSequence] = useState<number | null>(null);
+  const [spatial, setSpatial] = useState<M49TgsAnchorSpatial | null>(null);
+  const [loading, setLoading] = useState(false);
+  const [error, setError] = useState<string | null>(null);
+  const spatialCacheRef = useRef(new Map<string, M49TgsAnchorSpatial>());
+  const anchorSequences = useMemo(
+    () => new Set(result.metrics.primary.map((item) => item.anchorFrameIndex)),
+    [result.metrics.primary],
+  );
+  const expectedAtSequence = activeSequence !== null && anchorSequences.has(activeSequence);
+
+  useEffect(() => {
+    if (activeSequence === null || !anchorSequences.has(activeSequence)) {
+      setSpatial(null);
+      setLoading(false);
+      setError(null);
+      return;
+    }
+    const cacheKey = `${result.resultId}:${activeSequence}`;
+    const cached = spatialCacheRef.current.get(cacheKey);
+    if (cached) {
+      setSpatial(cached);
+      setLoading(false);
+      setError(null);
+      return;
+    }
+    const controller = new AbortController();
+    setSpatial(null);
+    setLoading(true);
+    setError(null);
+    void fetchM49TgsAnchorSpatial(
+      result.resultId,
+      activeSequence,
+      "causal_rolling_1s",
+      { signal: controller.signal },
+    )
+      .then((next) => {
+        if (!controller.signal.aborted) {
+          spatialCacheRef.current.set(cacheKey, next);
+          setSpatial(next);
+        }
+      })
+      .catch((caught: unknown) => {
+        if (!controller.signal.aborted) setError(message(caught));
+      })
+      .finally(() => {
+        if (!controller.signal.aborted) setLoading(false);
+      });
+    return () => controller.abort();
+  }, [activeSequence, anchorSequences, result.resultId]);
+
+  const reviewAnchors = useMemo<readonly M4ReplayThreatReviewAnchor[]>(
+    () => result.metrics.primary.map((item) => ({
+      id: `m49-tgs-${item.anchorFrameIndex}`,
+      sourceSequence: item.anchorFrameIndex,
+      extentXyxyNormalized: [0, 0, 0, 0],
+      matchedAtThreshold: false,
+      statusLabel: "визуальная проверка",
+    })),
+    [result.metrics.primary],
+  );
+
+  const classifiedFrame = useMemo<M4ReplayClassifiedSpatialFrame | null>(() => {
+    if (!spatial) return null;
+    return {
+      sourceSequence: spatial.sourceSequence,
+      pointsMapGravityLocalXyzM: spatial.pointsXyzM,
+      pointClassIds: spatial.pointStates,
+      cellsMapGravityLocal: spatial.costmap.centersXyM.map((center, index) => ({
+        centerXyM: center,
+        zBoundsM: spatial.costmap.zBoundsM[index]!,
+        state: cellState(spatial.costmap.states[index]!),
+      })),
+      cellSizeM: spatial.costmap.cellSizeM,
+      classes: CLASSES,
+      palette: PALETTE,
+    };
+  }, [spatial]);
+
+  const handleSequenceChange = useCallback((sequence: number | null) => {
+    setActiveSequence(sequence);
+  }, []);
+
+  return (
+    <M4ReplayThreatVisual
+      resultId={result.source.linkedVisualResultId}
+      reviewAnchors={reviewAnchors}
+      showReviewAnchorBoxes={false}
+      reviewLabel="10 gravity-aligned TGS anchors"
+      evidenceLabel="M49 · TGS fail-closed"
+      initialSpatialMode="3d"
+      onActiveSequenceChange={handleSequenceChange}
+      classifiedSpatialLayer={{
+        label: "TGS fail-closed · causal rolling 1 s",
+        pointLayerLabel: "TGS POINTS",
+        cellLayerLabel: "COSTMAP",
+        expectedAtSequence,
+        frame: classifiedFrame,
+        loading,
+        error,
+      }}
+    />
+  );
+}

apps/control-station/src/workspaces/laboratory/M49TgsFailClosedResult.tsx

@@ -0,0 +1,92 @@
+import {
+  LaboratoryEvidence,
+  LaboratoryResultSummary,
+  LaboratorySummary,
+  LaboratoryWorkTemplate,
+} from "../../components/laboratory/LaboratoryPresentation";
+import type { M49TgsFailClosedResult } from "../../core/laboratory/m49TgsFailClosed";
+import { M49TgsFailClosedEvidence } from "./M49TgsFailClosedEvidence";
+
+function number(value: number, digits = 1): string {
+  return value.toLocaleString("ru-RU", { maximumFractionDigits: digits });
+}
+
+export function M49TgsFailClosedResultView({
+  rigLabel,
+  result,
+}: {
+  rigLabel: string;
+  result: M49TgsFailClosedResult;
+}) {
+  const worst = [...result.metrics.primary].sort(
+    (left, right) => (
+      right.nongroundPointCount / Math.max(right.pointCount, 1)
+      - left.nongroundPointCount / Math.max(left.pointCount, 1)
+    ),
+  )[0]!;
+  const status = "Representation complete; визуальное качество ещё не принято";
+  return (
+    <LaboratoryWorkTemplate
+      summary={(
+        <LaboratorySummary
+          title="M4.9T4 · TRAVEL TGS fail-closed evidence"
+          description="TRAVEL GroundSeg запущен без AOS на десяти immutable RAVNOVES00 anchors. Вход сохранён в gravity-aligned map frame; каждый eligible point получил состояние, а каждая costmap-ячейка остаётся ground, occupied, rejected или unobserved."
+          status={status}
+          statusTone="warning"
+          facts={[
+            { label: "Конфигурация", value: `${rigLabel} RIGHT · Camera + gravity-aligned LiDAR · 10 anchors` },
+            { label: "Метод", value: "TRAVEL TGS only · AOS OFF · causal rolling 1 s" },
+            { label: "Evidence", value: `${result.metrics.anchorCount} anchors · ${result.metrics.costmapCellCount.toLocaleString("ru-RU")} cells/anchor · all points accounted` },
+            { label: "Нагрузка", value: `Worker 006 CPU-only · GPU 0 · wrapper ${number(result.execution.wrapperElapsedSeconds, 2)} с` },
+            { label: "Authority", value: "REPLAY-SIMULATED · visual/traversability/navigation/actuation OFF" },
+          ]}
+          brief={{
+            question: "Отделяет ли готовый TRAVEL TGS опорную поверхность от неизвестной занятой геометрии достаточно чисто, чтобы заменить самодельный static-obstacle threshold pipeline?",
+            approach: "На десяти сложных кадрах проверяется полный gravity-aligned point set и fail-closed costmap. Зелёное — опора, красное — non-ground occupied, жёлтое — rejected/unknown, тёмное — unobserved; камера остаётся синхронным первичным контекстом.",
+            principalResult: `Контракт представления закрыт: ${result.metrics.anchorProfileCount}/20 профилей, ни одной потерянной eligible point, AOS и GPU отсутствуют. Process wall rolling p50/max: ${number(result.metrics.processWallRollingP50Ms, 0)}/${number(result.metrics.processWallRollingMaxMs, 0)} мс.`,
+            limitation: `Качество не принято: особенно проверить кадр ${worst.anchorFrameIndex + 1}, где ${number(worst.nongroundPointCount / Math.max(worst.pointCount, 1) * 100)}% rolling points помечены non-ground. Это может быть реальная боковая геометрия либо ложная блокировка поверхности.`,
+          }}
+          method={{
+            completeness: "complete",
+            executionClass: "deterministic",
+            pipelineId: "travel-tgs-gravity-aligned-fail-closed/v1",
+            components: [
+              { kind: "source", name: "RAVNOVES00", version: "10 immutable anchors", role: "camera + registered map increments", identitySha256: result.source.sourcePackSha256 },
+              { kind: "algorithm", name: "TRAVEL GroundSeg", version: "95dc2fbd66a343efd9060c45a5711b6307a950a4", role: "ground/nonground separation; AOS excluded", identitySha256: result.configuration.configSha256 },
+              { kind: "algorithm", name: "fail-closed complement adapter", version: "v1", role: "explicit rejected points and unobserved cells", identitySha256: result.resultId.split("-").at(-1) ?? null },
+            ],
+          }}
+        />
+      )}
+      evidence={(
+        <LaboratoryEvidence
+          eyebrow="M4.9T4 VISUAL EVIDENCE · CAMERA + GRAVITY-ALIGNED TGS"
+          title="10 anchors: полный TGS point set и четырёхсостояний costmap на том же recorded timeline"
+          kind="recorded-replay"
+          resizable
+        >
+          <M49TgsFailClosedEvidence result={result} />
+        </LaboratoryEvidence>
+      )}
+      result={(
+        <LaboratoryResultSummary
+          title="Что уже доказано и что проверяем глазами"
+          status={status}
+          statusTone="warning"
+          metrics={[
+            { label: "Point accounting", value: "100%", hint: "ground + non-ground + rejected = exact eligible input" },
+            { label: "Anchors", value: `${result.metrics.anchorCount}/10`, hint: "current + causal rolling 1 s" },
+            { label: "Costmap", value: `${result.metrics.costmapCellCount.toLocaleString("ru-RU")} cells`, hint: `${number(result.configuration.cellSizeM, 2)} м · radius ${number(result.configuration.radiusM, 0)} м` },
+            { label: "Process wall rolling", value: `${number(result.metrics.processWallRollingP50Ms, 0)} / ${number(result.metrics.processWallRollingMaxMs, 0)} мс`, hint: "p50 / max · CPU process envelope, не realtime integration" },
+            { label: "GPU / AOS", value: "0 / OFF", hint: "Worker 006; Frigate budget не затронут" },
+          ]}
+          conclusion={{
+            proved: "Готовый TGS можно встроить fail-closed: исходные точки не теряются, unknown не становится free, AOS не нужен, а вычисление укладывается в лёгкий CPU-контур на этих anchors.",
+            notProved: "Не доказано, что красный non-ground слой не режет дорогу, траву или допустимые просветы. Нет независимой terrain truth, полного replay, realtime graph integration и модели корпуса.",
+            decision: "Открыть десять anchors по очереди. Если красное остаётся на реальных препятствиях и не перекрывает видимую опорную поверхность, TGS идёт в полный shadow; иначе кандидат отклоняется без ручной подгонки порогов под эти кадры.",
+          }}
+        />
+      )}
+    />
+  );
+}

apps/control-station/src/workspaces/laboratory/M49TgsFullShadowEvidence.tsx

@@ -0,0 +1,227 @@
+import { useCallback, useEffect, useMemo, useState } from "react";
+
+import type {
+  RecordedEvidenceSemanticClass,
+  RecordedEvidenceSemanticPaletteEntry,
+} from "../../components/laboratory/RecordedEvidenceSemanticMaskOverlay";
+import {
+  fetchE47SemanticSlamResult,
+  type E47SemanticSlamResult,
+} from "../../core/laboratory/e47SemanticSlam";
+import {
+  fetchM49PhysicalSafetyPlaybackIdForSource,
+  M49PhysicalSafetyPlaybackBuffer,
+  type M49PhysicalSafetyPlaybackProgress,
+} from "../../core/laboratory/m49PhysicalSafetyPlayback";
+import {
+  fetchM49TgsFullShadowPlaybackPack,
+  type M49TgsFullShadowResult,
+  type M49TgsFullShadowPlaybackPack,
+  type M49TgsFullShadowPlaybackProgress,
+} from "../../core/laboratory/m49TgsFullShadow";
+import {
+  M4ReplayThreatVisual,
+  type M4ReplayClassifiedSpatialFrame,
+} from "./M4ReplayThreatVisual";
+
+const CLASSES: readonly RecordedEvidenceSemanticClass[] = [
+  { id: 1, label: "Ground support" },
+  { id: 2, label: "Non-ground occupied" },
+  { id: 3, label: "Unknown / rejected" },
+];
+
+const PALETTE: readonly RecordedEvidenceSemanticPaletteEntry[] = [
+  { classId: 1, color: { kind: "token", token: "--nodedc-success-rgb" } },
+  { classId: 2, color: { kind: "token", token: "--nodedc-danger-rgb" } },
+  { classId: 3, color: { kind: "token", token: "--nodedc-warning-rgb" } },
+];
+
+function message(error: unknown): string {
+  return error instanceof Error && error.message.trim()
+    ? error.message
+    : "Полный TGS spatial frame недоступен.";
+}
+
+export function M49TgsFullShadowEvidence({ result }: { result: M49TgsFullShadowResult }) {
+  const [activeSequence, setActiveSequence] = useState<number | null>(null);
+  const [semantic, setSemantic] = useState<E47SemanticSlamResult | null>(null);
+  const [semanticError, setSemanticError] = useState<string | null>(null);
+  const [playbackPack, setPlaybackPack] = useState<M49TgsFullShadowPlaybackPack | null>(null);
+  const [physicalPlayback, setPhysicalPlayback] = useState<M49PhysicalSafetyPlaybackBuffer | null>(null);
+  const [physicalProgress, setPhysicalProgress] = useState<M49PhysicalSafetyPlaybackProgress | null>(null);
+  const [physicalRevision, setPhysicalRevision] = useState(0);
+  const [playbackProgress, setPlaybackProgress] = useState<M49TgsFullShadowPlaybackProgress>({
+    phase: "manifest",
+    trackId: null,
+    loadedBytes: 0,
+    totalBytes: 0,
+  });
+  const [error, setError] = useState<string | null>(null);
+
+  useEffect(() => {
+    const controller = new AbortController();
+    setSemantic(null);
+    setSemanticError(null);
+    void fetchE47SemanticSlamResult({
+      resultId: result.source.linkedSemanticResultId,
+      signal: controller.signal,
+    })
+      .then((next) => {
+        if (controller.signal.aborted) return;
+        if (!next || next.baseM4ResultId !== result.source.linkedVisualResultId) {
+          throw new Error("Semantic archive не совпал с исходным M4 timeline.");
+        }
+        setSemantic(next);
+      })
+      .catch((caught: unknown) => {
+        if (!controller.signal.aborted) setSemanticError(message(caught));
+      });
+    return () => controller.abort();
+  }, [result.source.linkedSemanticResultId, result.source.linkedVisualResultId]);
+
+  useEffect(() => {
+    const controller = new AbortController();
+    setPlaybackPack(null);
+    setPhysicalPlayback(null);
+    setPhysicalProgress(null);
+    setPhysicalRevision(0);
+    setPlaybackProgress({ phase: "manifest", trackId: null, loadedBytes: 0, totalBytes: 0 });
+    setError(null);
+    void fetchM49PhysicalSafetyPlaybackIdForSource(result.resultId, {
+      signal: controller.signal,
+    }).then(async (physicalResultId) => {
+      if (controller.signal.aborted) return;
+      if (physicalResultId) {
+        const playback = await M49PhysicalSafetyPlaybackBuffer.open(physicalResultId, {
+          signal: controller.signal,
+          onProgress: setPhysicalProgress,
+        });
+        if (!controller.signal.aborted) setPhysicalPlayback(playback);
+        return;
+      }
+      const pack = await fetchM49TgsFullShadowPlaybackPack(result.resultId, {
+        signal: controller.signal,
+        onProgress: setPlaybackProgress,
+      });
+      if (!controller.signal.aborted) setPlaybackPack(pack);
+    }).catch((caught: unknown) => {
+      if (!controller.signal.aborted) setError(message(caught));
+    });
+    return () => controller.abort();
+  }, [result.resultId]);
+
+  useEffect(() => {
+    if (activeSequence === null || !physicalPlayback) return;
+    let active = true;
+    const resident = physicalPlayback.frameIfResident(activeSequence);
+    void physicalPlayback.prepare(activeSequence).then(() => {
+      if (active && !resident) setPhysicalRevision((value) => value + 1);
+    }).catch((caught: unknown) => {
+      if (active) setError(message(caught));
+    });
+    return () => {
+      active = false;
+    };
+  }, [activeSequence, physicalPlayback]);
+
+  const classifiedFrame = useMemo<M4ReplayClassifiedSpatialFrame | null>(() => {
+    if (activeSequence === null) return null;
+    if (physicalPlayback) {
+      const frame = physicalPlayback.frameIfResident(activeSequence);
+      if (!frame) return null;
+      return {
+        sourceSequence: activeSequence,
+        sampleAvailable: frame.metadata.sampleAvailable,
+        sourcePointCount: frame.metadata.metrics.eligible_point_count ?? 0,
+        pointsMapGravityLocalXyzM: [],
+        pointClassIds: [],
+        cellsMapGravityLocal: [],
+        packedCellsMapGravityLocal: {
+          centersXyM: frame.centersXyM,
+          stateCodes: frame.states,
+          zBoundsM: frame.zBoundsM,
+        },
+        cellSizeM: frame.cellSizeM,
+        classes: CLASSES,
+        palette: PALETTE,
+      };
+    }
+    if (!playbackPack) return null;
+    const frame = playbackPack.frames[activeSequence];
+    if (!frame) return null;
+    const cellOffset = activeSequence * playbackPack.cellCount;
+    const zOffset = cellOffset * 2;
+    return {
+      sourceSequence: activeSequence,
+      sampleAvailable: frame.sampleAvailable,
+      sourcePointCount: frame.metrics.eligiblePointCount,
+      pointsMapGravityLocalXyzM: [],
+      pointClassIds: [],
+      cellsMapGravityLocal: [],
+      packedCellsMapGravityLocal: {
+        centersXyM: playbackPack.centersXyM,
+        stateCodes: playbackPack.states.subarray(
+          cellOffset,
+          cellOffset + playbackPack.cellCount,
+        ),
+        zBoundsM: playbackPack.zBoundsM.subarray(
+          zOffset,
+          zOffset + playbackPack.cellCount * 2,
+        ),
+      },
+      cellSizeM: result.configuration.cellSizeM,
+      classes: CLASSES,
+      palette: PALETTE,
+    };
+  }, [activeSequence, physicalPlayback, physicalRevision, playbackPack, result.configuration.cellSizeM]);
+  const loading = activeSequence !== null && !classifiedFrame && !error;
+  const progressPercent = playbackProgress.totalBytes > 0
+    ? Math.min(100, Math.round((playbackProgress.loadedBytes / playbackProgress.totalBytes) * 100))
+    : 0;
+  const loadingLabel = physicalProgress
+    ? physicalProgress.phase === "ready"
+      ? "Sealed TGS playback готов"
+      : `Буферизуем sealed TGS · ${physicalProgress.residentChunkIndexes.length}/3 chunks · ${(physicalProgress.loadedBytes / 1_048_576).toFixed(1)} МБ`
+    : playbackProgress.phase === "manifest"
+    ? "Проверяем playback manifest"
+    : playbackProgress.phase === "ready"
+      ? "TGS playback готов"
+      : `Подготавливаем TGS playback · ${progressPercent}% · ${(playbackProgress.loadedBytes / 1_048_576).toFixed(1)}/${(playbackProgress.totalBytes / 1_048_576).toFixed(1)} МБ`;
+
+  const handleSequenceChange = useCallback((sequence: number | null) => {
+    setActiveSequence(sequence);
+  }, []);
+
+  return (
+    <>
+      <M4ReplayThreatVisual
+        resultId={result.source.linkedVisualResultId}
+        semantic={semantic ? {
+          resultId: semantic.resultId,
+          taxonomy: semantic.taxonomy,
+        } : undefined}
+        showReviewAnchorBoxes={false}
+        reviewLabel="4 489 source-paced TGS frames"
+        evidenceLabel="M49 · full TGS shadow"
+        initialSpatialMode="3d"
+        onActiveSequenceChange={handleSequenceChange}
+        classifiedSpatialLayer={{
+          label: "TGS full shadow · causal rolling 1 s",
+          pointLayerLabel: "SOURCE POINTS",
+          cellLayerLabel: "TGS COSTMAP",
+          expectedAtSequence: true,
+          frame: classifiedFrame,
+          loading,
+          loadingLabel,
+          error,
+          replacePointCloud: false,
+        }}
+      />
+      {semanticError ? (
+        <div className="m4-replay-threat-visual__pane-status" role="alert">
+          Semantic overlay недоступен: {semanticError}
+        </div>
+      ) : null}
+    </>
+  );
+}

apps/control-station/src/workspaces/laboratory/M49TgsFullShadowResult.tsx

@@ -0,0 +1,90 @@
+import {
+  LaboratoryEvidence,
+  LaboratoryResultSummary,
+  LaboratorySummary,
+  LaboratoryWorkTemplate,
+} from "../../components/laboratory/LaboratoryPresentation";
+import type { M49TgsFullShadowResult } from "../../core/laboratory/m49TgsFullShadow";
+import { M49TgsFullShadowEvidence } from "./M49TgsFullShadowEvidence";
+
+function number(value: number, digits = 1): string {
+  return value.toLocaleString("ru-RU", { maximumFractionDigits: digits });
+}
+
+export function M49TgsFullShadowResultView({
+  rigLabel,
+  result,
+}: {
+  rigLabel: string;
+  result: M49TgsFullShadowResult;
+}) {
+  const accepted = result.decision.candidateRetained;
+  const status = accepted
+    ? "Source-paced CPU shadow принят; визуальное и integrated-graph качество ещё проверяются"
+    : "Source-paced CPU shadow не прошёл performance gate";
+  return (
+    <LaboratoryWorkTemplate
+      summary={(
+        <LaboratorySummary
+          title="M4.9T5 · полный source-paced TRAVEL TGS shadow"
+          description="Один CPU-only процесс прошёл весь recorded timeline RAVNOVES00 в исходном темпе. Камера остаётся владельцем времени; dense source cloud сохраняется, поверх него показывается четырёхсостояний TGS costmap."
+          status={status}
+          statusTone={accepted ? "success" : "danger"}
+          facts={[
+            { label: "Конфигурация", value: `${rigLabel} RIGHT · gravity-aligned LiDAR · causal ${number(result.configuration.historySeconds)} с` },
+            { label: "Timeline", value: `${result.timeline.frameCount.toLocaleString("ru-RU")} кадров · ${result.timeline.availableLidarFrameCount.toLocaleString("ru-RU")} LiDAR · ${result.timeline.missingLidarFrameCount} UNOBSERVED` },
+            { label: "Нагрузка", value: `Worker 006 CPU-only · GPU 0 · ${number(result.timeline.effectiveFps, 3)} source FPS` },
+            { label: "Authority", value: "REPLAY-SIMULATED · navigation/actuation OFF · integrated graph отдельно" },
+          ]}
+          brief={{
+            question: "Удерживает ли готовый TRAVEL TGS полный десятигерцовый replay без очереди и потери кадров?",
+            approach: "Все 4 489 camera frames планируются по исходным timestamps. Для 3 928 доступных LiDAR frames выполняется causal rolling 1 s; 561 пропуск остаётся полностью UNOBSERVED.",
+            principalResult: `${result.timeline.frameCount}/4 489 frames и ${result.pointAccounting.eligible.toLocaleString("ru-RU")} eligible points учтены; TGS p95/p99 ${number(result.performance.candidateTgsMs.p95, 2)}/${number(result.performance.candidateTgsMs.p99, 2)} мс, completion age p99 ${number(result.performance.completionAgeMs.p99, 2)} мс, capacity drops ${result.performance.capacityDropCount}.`,
+            limitation: "Это isolated CPU shadow. Он ещё не доказывает качество красных occupied-ячеек, проходимость для конкретного корпуса или регрессию FPS полного world-state graph.",
+          }}
+          method={{
+            completeness: "complete",
+            executionClass: "deterministic",
+            pipelineId: "travel-tgs-full-source-paced-shadow/v1",
+            components: [
+              { kind: "source", name: "RAVNOVES00", version: "4 489-frame recorded timeline", role: "camera-owned source clock + registered LiDAR", identitySha256: result.source.sourcePackSha256 },
+              { kind: "algorithm", name: "TRAVEL GroundSeg", version: "95dc2fbd66a343efd9060c45a5711b6307a950a4", role: "gravity-aligned ground/non-ground separation; AOS OFF", identitySha256: result.configuration.configSha256 },
+              { kind: "algorithm", name: "fail-closed costmap adapter", version: "v1", role: "occupied > rejected > ground > unobserved; no free inference", identitySha256: result.resultId.split("-").at(-1) ?? null },
+            ],
+          }}
+        />
+      )}
+      evidence={(
+        <LaboratoryEvidence
+          eyebrow="M4.9T5 VISUAL EVIDENCE · FULL CAMERA TIMELINE + SOURCE CLOUD + TGS COSTMAP"
+          title="Полный timeline: dense исходные точки сохранены, TGS-ячейки синхронны каждому кадру"
+          kind="recorded-replay"
+          resizable
+        >
+          <M49TgsFullShadowEvidence result={result} />
+        </LaboratoryEvidence>
+      )}
+      result={(
+        <LaboratoryResultSummary
+          title="Что доказал полный прогон"
+          status={status}
+          statusTone={accepted ? "success" : "danger"}
+          metrics={[
+            { label: "Timeline", value: `${result.timeline.frameCount}/4 489`, hint: `${result.timeline.availableLidarFrameCount} LiDAR + ${result.timeline.missingLidarFrameCount} explicit UNOBSERVED` },
+            { label: "TGS p95 / p99", value: `${number(result.performance.candidateTgsMs.p95, 2)} / ${number(result.performance.candidateTgsMs.p99, 2)} мс`, hint: "чистый candidate stage на CPU" },
+            { label: "Completion age p99", value: `${number(result.performance.completionAgeMs.p99, 2)} мс`, hint: "от source timestamp до готового frame result" },
+            { label: "Capacity drops", value: String(result.performance.capacityDropCount), hint: "кадры не отбрасывались ради темпа" },
+            { label: "Point accounting", value: "100%", hint: `${result.pointAccounting.eligible.toLocaleString("ru-RU")} eligible points` },
+          ]}
+          conclusion={{
+            proved: "Полный CPU-only TGS shadow воспроизводимо проходит recorded source clock, сохраняет fail-closed представление и не использует AOS/GPU.",
+            notProved: "Не приняты visual traversability, модель корпуса, камера-проекция TGS и нагрузка после встраивания в полный realtime world-state graph.",
+            decision: accepted
+              ? "Кандидат остаётся. Просмотреть полный timeline, затем подключить shadow к realtime graph и измерить общий FPS/latency regression."
+              : "Кандидат не встраивать; сначала локализовать performance gate, который не прошёл полный replay.",
+          }}
+        />
+      )}
+    />
+  );
+}

apps/control-station/src/workspaces/laboratory/M4ReplayThreatVisual.tsx

@@ -1,4 +1,4 @@
-import { useEffect, useMemo, useRef, useState, type CSSProperties } from "react";
+import { useCallback, useEffect, useMemo, useRef, useState, type CSSProperties } from "react";
 import {
   Button,
   Icon,
@@ -12,7 +12,9 @@ import {
 import { ObservationTimeline } from "../../components/ObservationTimeline";
 import {
   LaboratoryMetricEvidenceScene,
+  type LaboratoryMetricCellEvidence,
   type LaboratoryMetricEvidenceSceneHandle,
+  type LaboratoryMetricPackedCellEvidence,
   type LaboratoryMetricSceneMode,
 } from "../../components/laboratory/LaboratoryMetricEvidenceScene";
 import { LaboratoryEvidenceViewer } from "../../components/laboratory/LaboratoryEvidenceViewer";
@@ -95,7 +97,16 @@ function SpatialState({ message: text }: { message: string }) {
 
 export interface M4ReplayThreatSemanticLayer {
   resultId: string;
-  taxonomy: readonly E47SemanticClass[];
+  spatialResultId?: string | null;
+  maskUrl?: (sequence: number) => string;
+  label?: string;
+  maskAriaLabel?: string;
+  taxonomy: readonly {
+    classId: number;
+    label: string;
+    disposition: "labeled" | "ambiguous" | "prediction" | "undefined";
+    colorRgb: readonly [number, number, number];
+  }[];
 }
 
 export interface M4ReplayThreatReviewAnchor {
@@ -103,6 +114,40 @@ export interface M4ReplayThreatReviewAnchor {
   sourceSequence: number;
   extentXyxyNormalized: readonly [number, number, number, number];
   matchedAtThreshold: boolean;
+  statusLabel?: string;
+}
+
+export interface M4ReplayClassifiedSpatialFrame {
+  sourceSequence: number;
+  sampleAvailable?: boolean;
+  sourcePointCount?: number;
+  pointsMapGravityLocalXyzM: readonly (readonly [number, number, number])[];
+  pointClassIds: readonly (number | null)[];
+  cellsMapGravityLocal: readonly {
+    centerXyM: readonly [number, number];
+    zBoundsM: readonly [number | null, number | null];
+    state: LaboratoryMetricCellEvidence["state"];
+  }[];
+  packedCellsMapGravityLocal?: {
+    centersXyM: Float32Array;
+    zBoundsM: Float32Array;
+    stateCodes: Uint8Array;
+  };
+  cellSizeM: number;
+  classes: readonly RecordedEvidenceSemanticClass[];
+  palette: readonly RecordedEvidenceSemanticPaletteEntry[];
+}
+
+export interface M4ReplayClassifiedSpatialLayer {
+  label: string;
+  pointLayerLabel: string;
+  cellLayerLabel: string;
+  expectedAtSequence: boolean;
+  frame: M4ReplayClassifiedSpatialFrame | null;
+  loading: boolean;
+  loadingLabel?: string;
+  error: string | null;
+  replacePointCloud?: boolean;
 }
 
 const EMPTY_REVIEW_ANCHORS: readonly M4ReplayThreatReviewAnchor[] = [];
@@ -115,6 +160,11 @@ export function M4ReplayThreatVisual({
   reviewLabel = "Контрольные примеры M4.8R1",
   timelineEndpointRoot,
   evidenceLabel = "M4.6",
+  initialSpatialMode = null,
+  classifiedSpatialLayer,
+  showReferenceMediaLayers = true,
+  showSpatialOverlaySummary = true,
+  onActiveSequenceChange,
 }: {
   resultId: string;
   semantic?: M4ReplayThreatSemanticLayer;
@@ -123,9 +173,16 @@ export function M4ReplayThreatVisual({
   reviewLabel?: string;
   timelineEndpointRoot?: string;
   evidenceLabel?: string;
+  initialSpatialMode?: LaboratoryMetricSceneMode | null;
+  classifiedSpatialLayer?: M4ReplayClassifiedSpatialLayer;
+  showReferenceMediaLayers?: boolean;
+  showSpatialOverlaySummary?: boolean;
+  onActiveSequenceChange?: (sequence: number | null) => void;
 }) {
   const [mediaMode, setMediaMode] = useState<M4ThreatMediaMode | null>("video");
-  const [spatialMode, setSpatialMode] = useState<LaboratoryMetricSceneMode | null>(null);
+  const [spatialMode, setSpatialMode] = useState<LaboratoryMetricSceneMode | null>(
+    initialSpatialMode,
+  );
   const [showCurrentIncrement, setShowCurrentIncrement] = useState(true);
   const [showLocalSurface, setShowLocalSurface] = useState(true);
   const [showRollingMap, setShowRollingMap] = useState(true);
@@ -220,6 +277,9 @@ export function M4ReplayThreatVisual({
   }, [resultId]);
   if (timelineFrame.activeFrame) lastFrameRef.current = timelineFrame.activeFrame;
   const frame = timelineFrame.activeFrame ?? lastFrameRef.current;
+  useEffect(() => {
+    onActiveSequenceChange?.(timelineFrame.activeSequence);
+  }, [onActiveSequenceChange, timelineFrame.activeSequence]);
   const lastSpatialFrameRef = useRef<{
     resultId: string;
     frame: M4ThreatTimelineFrame;
@@ -233,16 +293,30 @@ export function M4ReplayThreatVisual({
       ? lastSpatialFrameRef.current.frame
       : null;
   const cameraPointOverlay = useM4ThreatCameraPointOverlay({
-    enabled: showMediaPoints,
+    enabled: showReferenceMediaLayers && showMediaPoints,
     resultId,
     sequence: frame?.sequence ?? null,
     endpointRoot: timelineEndpointRoot,
   });
+  const semanticSpatialResultId = semantic
+    ? semantic.spatialResultId === undefined ? semantic.resultId : semantic.spatialResultId
+    : null;
+  const spatialSemanticTaxonomy = useMemo<readonly E47SemanticClass[]>(
+    () => semanticSpatialResultId && semantic
+      ? semantic.taxonomy.map((item) => ({
+          classId: item.classId,
+          label: item.label,
+          disposition: item.disposition === "ambiguous" ? "ambiguous" : "labeled",
+          colorRgb: item.colorRgb,
+        }))
+      : [],
+    [semantic, semanticSpatialResultId],
+  );
   const semanticTimeline = useE47SemanticTimelineFrame({
-    resultId: semantic?.resultId ?? null,
+    resultId: semanticSpatialResultId,
     activeSequence: frame?.sequence ?? timelineFrame.activeSequence,
     frameCount: metadata.timeline?.frameCount ?? 0,
-    taxonomy: semantic?.taxonomy ?? [],
+    taxonomy: spatialSemanticTaxonomy,
   });
   const displayingBufferedFrame = Boolean(
     frame
@@ -292,7 +366,8 @@ export function M4ReplayThreatVisual({
   const staticObstacleBoxes = useMemo<readonly RecordedEvidenceBox[]>(() => {
     const timeline = metadata.timeline;
     if (
-      !frame
+      !showReferenceMediaLayers
+      || !frame
       || !timeline?.cameraObstacleProjectionDelivery
       || !showStaticObstacles
     ) return [];
@@ -301,14 +376,14 @@ export function M4ReplayThreatVisual({
       timeline.imageWidth,
       timeline.imageHeight,
     );
-  }, [frame, metadata.timeline, showStaticObstacles]);
+  }, [frame, metadata.timeline, showReferenceMediaLayers, showStaticObstacles]);
   const activeBoxes = useMemo(
-    () => [
+    () => classifiedSpatialLayer || !showReferenceMediaLayers ? [] : [
       ...boxes(frame?.cameraProposals ?? []),
       ...staticObstacleBoxes,
       ...reviewAnchorBoxes,
     ],
-    [frame, reviewAnchorBoxes, staticObstacleBoxes],
+    [classifiedSpatialLayer, frame, reviewAnchorBoxes, showReferenceMediaLayers, staticObstacleBoxes],
   );
   const semanticClasses = useMemo<readonly RecordedEvidenceSemanticClass[]>(
     () => semantic?.taxonomy.map((item) => ({
@@ -320,10 +395,14 @@ export function M4ReplayThreatVisual({
   const semanticPalette = useMemo<readonly RecordedEvidenceSemanticPaletteEntry[]>(
     () => semantic?.taxonomy.map((item) => ({
       classId: item.classId,
-      color: item.disposition === "ambiguous"
+      color: item.disposition === "undefined"
+        ? { kind: "transparent" as const }
+        : item.disposition === "ambiguous"
         ? { kind: "token" as const, token: "--nodedc-warning-rgb" as const }
         : { kind: "diagnostic" as const, rgb: item.colorRgb },
-      opacity: item.disposition === "ambiguous" ? 0.52 : 0.92,
+      opacity: item.disposition === "undefined"
+        ? 0
+        : item.disposition === "ambiguous" ? 0.52 : 0.92,
     })) ?? [],
     [semantic?.taxonomy],
   );
@@ -363,6 +442,141 @@ export function M4ReplayThreatVisual({
       return status === 2 || status === 3 ? classId : null;
     });
   }, [semantic, semanticIntegrityError, showSpatialSemantic, spatialFrame, spatialSemanticFrame]);
+  const activeSpatialFrame = spatialFrame?.sequence === timelineFrame.activeSequence
+    ? spatialFrame
+    : null;
+  const classifiedSpatialFrame = classifiedSpatialLayer?.frame?.sourceSequence === timelineFrame.activeSequence
+    ? classifiedSpatialLayer?.frame ?? null
+    : null;
+  const lastClassifiedSpatialFrameRef = useRef<{
+    resultId: string;
+    frame: M4ReplayClassifiedSpatialFrame;
+  } | null>(null);
+  const incomingClassifiedSpatialFrame = classifiedSpatialLayer?.frame ?? null;
+  if (incomingClassifiedSpatialFrame && incomingClassifiedSpatialFrame.sampleAvailable !== false) {
+    lastClassifiedSpatialFrameRef.current = { resultId, frame: incomingClassifiedSpatialFrame };
+  }
+  const lastAvailableClassifiedSpatialFrame = lastClassifiedSpatialFrameRef.current?.resultId === resultId
+    ? lastClassifiedSpatialFrameRef.current.frame
+    : null;
+  // `undefined !== false` is true, so the optional-chain form here used to
+  // select `null` during every short chunk miss. That unmounted the WebGL
+  // scene, flashed the alert state and recreated OrbitControls at the default
+  // view on the next frame. Keep the last complete volume until the exact
+  // classified frame is resident again.
+  const displayedClassifiedSpatialFrame = classifiedSpatialFrame
+    && classifiedSpatialFrame.sampleAvailable !== false
+    ? classifiedSpatialFrame
+    : lastAvailableClassifiedSpatialFrame ?? classifiedSpatialFrame;
+  const displayedClassifiedFrameHeld = Boolean(
+    classifiedSpatialFrame
+    && displayedClassifiedSpatialFrame
+    && classifiedSpatialFrame.sourceSequence !== displayedClassifiedSpatialFrame.sourceSequence,
+  );
+  const classifiedContextSpatialFrame = displayedClassifiedSpatialFrame
+    ? timelineFrame.availableFrames.find(
+        (candidate) => candidate.spatialAvailable
+          && candidate.sequence === displayedClassifiedSpatialFrame.sourceSequence,
+      ) ?? (spatialFrame?.sequence === displayedClassifiedSpatialFrame.sourceSequence
+        ? spatialFrame
+        : null)
+    : null;
+  const replaceClassifiedPointCloud = classifiedSpatialLayer?.replacePointCloud ?? true;
+  const nominalSensorHeightM = metadata.timeline?.rig.nominalSensorHeightM ?? 0;
+  const mapGravityLocalSensorToBodyGround = useCallback((
+    point: readonly [number, number, number],
+  ): readonly [number, number, number] => {
+    const basis = classifiedContextSpatialFrame?.bodyFrame?.basisMapFromBody;
+    const rotated: readonly [number, number, number] = basis ? [
+      basis[0][0] * point[0] + basis[1][0] * point[1] + basis[2][0] * point[2],
+      basis[0][1] * point[0] + basis[1][1] * point[1] + basis[2][1] * point[2],
+      basis[0][2] * point[0] + basis[1][2] * point[1] + basis[2][2] * point[2],
+    ] : point;
+    // TGS evidence is translation-only map-gravity-local with the current LiDAR
+    // as its origin. The metric scene uses the body ground projection as z=0.
+    return [rotated[0], rotated[1], rotated[2] + nominalSensorHeightM];
+  }, [classifiedContextSpatialFrame?.bodyFrame?.basisMapFromBody, nominalSensorHeightM]);
+  const classifiedPointsBody = useMemo(
+    () => displayedClassifiedSpatialFrame?.pointsMapGravityLocalXyzM.map(
+      mapGravityLocalSensorToBodyGround,
+    ) ?? [],
+    [displayedClassifiedSpatialFrame, mapGravityLocalSensorToBodyGround],
+  );
+  const classifiedCellsBody = useMemo<readonly LaboratoryMetricCellEvidence[]>(
+    () => displayedClassifiedSpatialFrame?.cellsMapGravityLocal.map((cell) => {
+      const body = mapGravityLocalSensorToBodyGround([
+        cell.centerXyM[0],
+        cell.centerXyM[1],
+        0,
+      ]);
+      const [minimumSensorRelativeZ, maximumSensorRelativeZ] = cell.zBoundsM;
+      return {
+        centerBodyXyM: [body[0], body[1]],
+        zBoundsM: [
+          minimumSensorRelativeZ === null
+            ? null
+            : minimumSensorRelativeZ + nominalSensorHeightM,
+          maximumSensorRelativeZ === null
+            ? null
+            : maximumSensorRelativeZ + nominalSensorHeightM,
+        ],
+        state: cell.state,
+      };
+    }) ?? [],
+    [displayedClassifiedSpatialFrame, mapGravityLocalSensorToBodyGround, nominalSensorHeightM],
+  );
+  const classifiedPackedCellsBody = useMemo<LaboratoryMetricPackedCellEvidence | undefined>(() => {
+    const packed = displayedClassifiedSpatialFrame?.packedCellsMapGravityLocal;
+    if (!packed) return undefined;
+    const cellCount = packed.stateCodes.length;
+    if (packed.centersXyM.length !== cellCount * 2 || packed.zBoundsM.length !== cellCount * 2) {
+      return undefined;
+    }
+    const centersBodyXyM = new Float32Array(cellCount * 2);
+    const zBoundsM = new Float32Array(cellCount * 2);
+    for (let index = 0; index < cellCount; index += 1) {
+      const body = mapGravityLocalSensorToBodyGround([
+        packed.centersXyM[index * 2]!,
+        packed.centersXyM[index * 2 + 1]!,
+        0,
+      ]);
+      centersBodyXyM[index * 2] = body[0];
+      centersBodyXyM[index * 2 + 1] = body[1];
+      const minimum = packed.zBoundsM[index * 2]!;
+      const maximum = packed.zBoundsM[index * 2 + 1]!;
+      zBoundsM[index * 2] = Number.isFinite(minimum)
+        ? minimum + nominalSensorHeightM
+        : Number.NaN;
+      zBoundsM[index * 2 + 1] = Number.isFinite(maximum)
+        ? maximum + nominalSensorHeightM
+        : Number.NaN;
+    }
+    return { centersBodyXyM, zBoundsM, stateCodes: packed.stateCodes };
+  }, [displayedClassifiedSpatialFrame, mapGravityLocalSensorToBodyGround, nominalSensorHeightM]);
+  const classifiedCellCounts = useMemo(() => {
+    const counts = { ground: 0, occupied: 0, rejected: 0, unobserved: 0 };
+    const packed = classifiedSpatialFrame?.packedCellsMapGravityLocal;
+    if (packed) {
+      for (const code of packed.stateCodes) {
+        if (code === 1) counts.ground += 1;
+        else if (code === 2) counts.occupied += 1;
+        else if (code === 3) counts.rejected += 1;
+        else if (code === 0) counts.unobserved += 1;
+        else counts.rejected += 1;
+      }
+      return counts;
+    }
+    for (const cell of classifiedSpatialFrame?.cellsMapGravityLocal ?? []) {
+      if (cell.state === "ground-support") counts.ground += 1;
+      else if (cell.state === "nonground-occupied") counts.occupied += 1;
+      else if (cell.state === "unknown-rejected") counts.rejected += 1;
+      else counts.unobserved += 1;
+    }
+    return counts;
+  }, [classifiedSpatialFrame]);
+  const classifiedCellCount = classifiedSpatialFrame?.packedCellsMapGravityLocal?.stateCodes.length
+    ?? classifiedSpatialFrame?.cellsMapGravityLocal.length
+    ?? 0;
   const sceneObstacles = useMemo(() => spatialFrame?.metricObstacles.map((obstacle) => ({
     id: obstacle.componentId,
     decision: obstacle.assessment.decision,
@@ -398,15 +612,17 @@ export function M4ReplayThreatVisual({
   const semanticOverlay: RecordedEvidenceSemanticOverlay | undefined =
     semantic && showMediaSemantic && frame
       ? {
-          src: e47SemanticMaskUrl(semantic.resultId, frame.sequence),
+          src: semantic.maskUrl?.(frame.sequence)
+            ?? e47SemanticMaskUrl(semantic.resultId, frame.sequence),
           prefetchSrcs: Array.from({ length: 12 }, (_, index) => index + 1)
             .map((offset) => frame.sequence + offset)
             .filter((sequence) => sequence < (metadata.timeline?.frameCount ?? 0))
-            .map((sequence) => e47SemanticMaskUrl(semantic.resultId, sequence)),
+            .map((sequence) => semantic.maskUrl?.(sequence)
+              ?? e47SemanticMaskUrl(semantic.resultId, sequence)),
           classes: semanticClasses,
           palette: semanticPalette,
           opacity: 0.9,
-          ariaLabel: `E47 semantic mask frame ${frame.sequence + 1}`,
+          ariaLabel: `${semantic.maskAriaLabel ?? "Semantic prediction"} frame ${frame.sequence + 1}`,
         }
       : undefined;
   const accumulatedCameraPoints = cameraPointOverlay.overlay?.sequence === frame?.sequence
@@ -477,8 +693,8 @@ export function M4ReplayThreatVisual({
   );
 
   const mediaLayerControls = semantic
-    || metadata.timeline?.cameraPointDelivery
-    || metadata.timeline?.cameraObstacleProjectionDelivery ? (
+    || (showReferenceMediaLayers && metadata.timeline?.cameraPointDelivery)
+    || (showReferenceMediaLayers && metadata.timeline?.cameraObstacleProjectionDelivery) ? (
     <div
       className="m4-replay-threat-visual__pane-layer-controls"
       role="group"
@@ -495,7 +711,7 @@ export function M4ReplayThreatVisual({
           SEMANTICS
         </Button>
       ) : null}
-      {metadata.timeline?.cameraPointDelivery ? (
+      {showReferenceMediaLayers && metadata.timeline?.cameraPointDelivery ? (
         <Button
           size="compact"
           shape="pill"
@@ -507,7 +723,7 @@ export function M4ReplayThreatVisual({
           POINTS
         </Button>
       ) : null}
-      {metadata.timeline?.cameraObstacleProjectionDelivery ? (
+      {showReferenceMediaLayers && metadata.timeline?.cameraObstacleProjectionDelivery ? (
         <Button
           size="compact"
           shape="pill"
@@ -522,7 +738,53 @@ export function M4ReplayThreatVisual({
     </div>
   ) : null;
 
-  const spatialLayerControls = (
+  const spatialLayerControls = classifiedSpatialLayer ? (
+    <div
+      className="m4-replay-threat-visual__pane-layer-controls"
+      role="group"
+      aria-label={`Слои ${classifiedSpatialLayer.label}`}
+    >
+      <Button
+        size="compact"
+        shape="pill"
+        variant={showCurrentIncrement ? "primary" : "secondary"}
+        aria-pressed={showCurrentIncrement}
+        onClick={() => setShowCurrentIncrement((visible) => !visible)}
+      >
+        {classifiedSpatialLayer.pointLayerLabel}
+      </Button>
+      <Button
+        size="compact"
+        shape="pill"
+        variant={showLocalSurface ? "primary" : "secondary"}
+        aria-pressed={showLocalSurface}
+        title="Bounded local SLAM surface · visual-derived"
+        onClick={() => setShowLocalSurface((visible) => !visible)}
+      >
+        LOCAL SLAM
+      </Button>
+      <Button
+        size="compact"
+        shape="pill"
+        variant={showRollingMap ? "primary" : "secondary"}
+        aria-pressed={showRollingMap}
+        onClick={() => setShowRollingMap((visible) => !visible)}
+      >
+        {classifiedSpatialLayer.cellLayerLabel}
+      </Button>
+      {semanticSpatialResultId ? (
+        <Button
+          size="compact"
+          shape="pill"
+          variant={showSpatialSemantic ? "primary" : "secondary"}
+          aria-pressed={showSpatialSemantic}
+          onClick={() => setShowSpatialSemantic((visible) => !visible)}
+        >
+          SEMANTICS
+        </Button>
+      ) : null}
+    </div>
+  ) : (
     <div
       className="m4-replay-threat-visual__pane-layer-controls"
       role="group"
@@ -568,7 +830,7 @@ export function M4ReplayThreatVisual({
           LOW-STEP
         </Button>
       ) : null}
-      {semantic ? (
+      {semanticSpatialResultId ? (
         <Button
           size="compact"
           shape="pill"
@@ -626,7 +888,7 @@ export function M4ReplayThreatVisual({
         value={String(selectedReviewAnchorIndex)}
         options={reviewAnchors.map((anchor, index) => ({
           value: String(index),
-          label: `${index + 1}/${reviewAnchors.length} · кадр ${anchor.sourceSequence + 1} · ${anchor.matchedAtThreshold ? "покрыт" : "пропуск"}`,
+          label: `${index + 1}/${reviewAnchors.length} · кадр ${anchor.sourceSequence + 1} · ${anchor.statusLabel ?? (anchor.matchedAtThreshold ? "покрыт" : "пропуск")}`,
         }))}
         variant="split"
         menuWidth="anchor"
@@ -652,7 +914,11 @@ export function M4ReplayThreatVisual({
     ? splitPrimarySize
     : 100;
 
-  const overlay = metadata.timeline && frame ? (
+  const overlaySequence = timelineFrame.activeSequence ?? frame?.sequence ?? null;
+  const overlaySessionSeconds = overlaySequence === null
+    ? null
+    : (metadata.timeline?.frameTimesNs[overlaySequence] ?? 0) / 1_000_000_000;
+  const overlay = metadata.timeline && overlaySequence !== null ? (
     <div
       className="l3-visual-audit__overlay m4-replay-threat-visual__overlay"
       style={{
@@ -661,50 +927,75 @@ export function M4ReplayThreatVisual({
     >
       <div>
         <span>RAVNOVES00 · recorded realtime</span>
-        <strong>frame {frame.sequence + 1}/{metadata.timeline.frameCount}</strong>
+        <strong>frame {overlaySequence + 1}/{metadata.timeline.frameCount}</strong>
         <small>
-          +{(frame.sessionSeconds - metadata.timeline.timelineStartSeconds).toFixed(3)} с
+          +{((overlaySessionSeconds ?? metadata.timeline.timelineStartSeconds) - metadata.timeline.timelineStartSeconds).toFixed(3)} с
           · {displayingBufferedFrame
             ? "держим последний кадр, следующий в буфере"
             : playbackController.playback.playing ? "воспроизведение" : "пауза / seek"}
         </small>
       </div>
-      <div>
-        <span>Spatial evidence</span>
-        <strong>
-          {currentIncrementObstacles.length} current · {rollingMapObstacles.length} rolling
-          {metadata.timeline.occupancyProvenanceDelivery
-            ? ` · ${lowStepObstacles.length} low-step`
-            : ""}
-        </strong>
-        <small>
-          {spatialFrame
-            ? `${spatialFrame.pointCloudSampleCount}/${spatialFrame.pointCloudSourceCount} exact · ${localSurface.pointsBodyXyzM.length} local SLAM / ${localSurface.sourceFrameCount} frames`
-            : "квалифицированный spatial frame ещё не получен"}
-          {frame.worldStateAvailable
-            ? " · world-state delivered"
-            : ` · world-state gap (${frame.terminalOutcome})`}
-          {accumulatedCameraPoints
-            ? ` · camera points ${accumulatedCameraPoints.sampleCount}/${accumulatedCameraPoints.projectedPointCount} · causal ${accumulatedCameraPoints.windowSeconds.toFixed(1)} с / ${accumulatedCameraPoints.sourceFrameCount} frames`
-            : pointCloudOverlay
-              ? ` · camera points ${frame.cameraProjectedSampleCount}/${frame.cameraProjectedPointCount} exact-current · накопление загружается`
-              : showMediaPoints && cameraPointOverlay.error
-                ? " · накопленное camera cloud недоступно"
-                : ""}
-          {semantic && spatialSemanticFrame
-            ? ` · semantic L ${spatialSemanticFrame.counts.labeled} · A ${spatialSemanticFrame.counts.ambiguous} · U ${spatialSemanticFrame.counts.unprojected} · Ø ${spatialSemanticFrame.counts.absent}`
-            : semantic ? " · semantic buffer" : ""}
-        </small>
-      </div>
-      <div>
-        <span>Virtual corridor</span>
-        <strong>
-          {spatialFrame?.decisionCounts.threat ?? 0} threat · nearest {nearest === null ? "—" : `${nearest.toFixed(2)} м`}
-        </strong>
-        <small>
-          {metadata.timeline.corridor.forwardLengthM} м · body {metadata.timeline.rig.lengthM}×{metadata.timeline.rig.widthM} м · REPLAY-SIMULATED
-        </small>
-      </div>
+      {showSpatialOverlaySummary ? (
+        <>
+          <div>
+            <span>Spatial evidence</span>
+            <strong>{classifiedSpatialLayer
+          ? classifiedSpatialFrame
+            ? replaceClassifiedPointCloud
+              ? `${classifiedSpatialFrame.pointsMapGravityLocalXyzM.length.toLocaleString("ru-RU")} TGS points · ${classifiedCellCount.toLocaleString("ru-RU")} cells`
+              : `${(activeSpatialFrame?.pointCloudSourceCount ?? classifiedSpatialFrame.sourcePointCount ?? 0).toLocaleString("ru-RU")} source points · ${classifiedCellCount.toLocaleString("ru-RU")} TGS cells`
+            : "TGS spatial buffer"
+          : `${currentIncrementObstacles.length} current · ${rollingMapObstacles.length} rolling${metadata.timeline.occupancyProvenanceDelivery ? ` · ${lowStepObstacles.length} low-step` : ""}`}</strong>
+        <small>{classifiedSpatialLayer
+          ? classifiedSpatialFrame
+            ? classifiedSpatialFrame.sampleAvailable === false
+              ? displayedClassifiedFrameHeld && displayedClassifiedSpatialFrame
+                ? `LiDAR отсутствует · current UNOBSERVED · объёмный контекст удержан с frame ${displayedClassifiedSpatialFrame.sourceSequence + 1}`
+                : "LiDAR отсутствует · все ячейки принудительно UNOBSERVED · causal rolling 1 s"
+              : activeSpatialFrame
+                ? "map-gravity-local · all eligible points accounted · causal rolling 1 s"
+                : "TGS рассчитан · linked source cloud недоступен для этого кадра"
+            : classifiedSpatialLayer.error
+              ?? classifiedSpatialLayer.loadingLabel
+              ?? `Открываем ${classifiedSpatialLayer.label}`
+          : (
+              <>
+                {spatialFrame
+                  ? `${spatialFrame.pointCloudSampleCount}/${spatialFrame.pointCloudSourceCount} exact · ${localSurface.pointsBodyXyzM.length} local SLAM / ${localSurface.sourceFrameCount} frames`
+                  : "квалифицированный spatial frame ещё не получен"}
+                {frame
+                  ? frame.worldStateAvailable
+                    ? " · world-state delivered"
+                    : ` · world-state gap (${frame.terminalOutcome})`
+                  : " · world-state frame unavailable"}
+                {accumulatedCameraPoints
+                  ? ` · camera points ${accumulatedCameraPoints.sampleCount}/${accumulatedCameraPoints.projectedPointCount} · causal ${accumulatedCameraPoints.windowSeconds.toFixed(1)} с / ${accumulatedCameraPoints.sourceFrameCount} frames`
+                  : pointCloudOverlay && frame
+                    ? ` · camera points ${frame.cameraProjectedSampleCount}/${frame.cameraProjectedPointCount} exact-current · накопление загружается`
+                    : showMediaPoints && cameraPointOverlay.error
+                      ? " · накопленное camera cloud недоступно"
+                      : ""}
+                {semanticSpatialResultId && spatialSemanticFrame
+                  ? ` · semantic L ${spatialSemanticFrame.counts.labeled} · A ${spatialSemanticFrame.counts.ambiguous} · U ${spatialSemanticFrame.counts.unprojected} · Ø ${spatialSemanticFrame.counts.absent}`
+                  : semanticSpatialResultId ? " · semantic buffer" : ""}
+              </>
+            )}</small>
+          </div>
+          <div>
+            <span>{classifiedSpatialLayer ? "TGS fail-closed" : "Virtual corridor"}</span>
+            <strong>{classifiedSpatialLayer
+          ? classifiedSpatialFrame
+            ? `${classifiedCellCounts.occupied} occupied · ${classifiedCellCounts.rejected} rejected · ${classifiedCellCounts.unobserved} unobserved`
+            : classifiedSpatialLayer.loading || displayingBufferedFrame ? "loading" : "unavailable"
+          : `${spatialFrame?.decisionCounts.threat ?? 0} threat · nearest ${nearest === null ? "—" : `${nearest.toFixed(2)} м`}`}</strong>
+        <small>{classifiedSpatialLayer
+          ? classifiedSpatialFrame
+            ? `${classifiedCellCounts.ground} ground-support · visual review only · navigation authority OFF`
+            : "visual review only · navigation authority OFF"
+          : `${metadata.timeline.corridor.forwardLengthM} м · body ${metadata.timeline.rig.lengthM}×${metadata.timeline.rig.widthM} м · REPLAY-SIMULATED`}</small>
+          </div>
+        </>
+      ) : null}
     </div>
   ) : undefined;
 
@@ -802,27 +1093,61 @@ export function M4ReplayThreatVisual({
             </div>
           </div>
         ) : null}
-        {spatialFrame ? (
-          <LaboratoryMetricEvidenceScene
-            ref={metricSceneRef}
-            pointCloudBodyXyzM={spatialFrame.pointCloudBodyXyzM}
-            localSurfaceBodyXyzM={localSurface.pointsBodyXyzM}
-            obstacles={sceneObstacles}
-            rig={timeline.rig}
-            corridor={timeline.corridor}
-            occupiedVoxelSizeM={timeline.occupiedVoxelSizeM}
-            mode={spatialMode}
-            label={`${evidenceLabel} exact current increment, bounded local SLAM surface and rolling occupancy`}
-            showCurrentIncrement={showCurrentIncrement}
-            showLocalSurface={showLocalSurface}
-            showRollingMap={showRollingMap}
-            showLowStep={showLowStep}
-            pointSemanticClassIds={alignedSemanticPointIds}
-            semanticClasses={semanticClasses}
-            semanticPalette={semanticPalette}
-          />
+        <LaboratoryMetricEvidenceScene
+          ref={metricSceneRef}
+          pointCloudBodyXyzM={displayedClassifiedSpatialFrame && replaceClassifiedPointCloud
+            ? classifiedPointsBody
+            : classifiedContextSpatialFrame?.pointCloudBodyXyzM ?? []}
+          localSurfaceBodyXyzM={localSurface.pointsBodyXyzM}
+          obstacles={classifiedSpatialLayer ? [] : sceneObstacles}
+          rig={timeline.rig}
+          corridor={timeline.corridor}
+          occupiedVoxelSizeM={displayedClassifiedSpatialFrame?.cellSizeM ?? timeline.occupiedVoxelSizeM}
+          mode={spatialMode}
+          label={`${evidenceLabel} exact current increment, bounded local SLAM surface and rolling occupancy`}
+          showCurrentIncrement={showCurrentIncrement}
+          showLocalSurface={showLocalSurface}
+          showRollingMap={showRollingMap}
+          showLowStep={classifiedSpatialLayer ? false : showLowStep}
+          pointSemanticClassIds={displayedClassifiedSpatialFrame && replaceClassifiedPointCloud
+            ? displayedClassifiedSpatialFrame.pointClassIds
+            : alignedSemanticPointIds}
+          semanticClasses={displayedClassifiedSpatialFrame && replaceClassifiedPointCloud
+            ? displayedClassifiedSpatialFrame.classes
+            : semanticClasses}
+          semanticPalette={displayedClassifiedSpatialFrame && replaceClassifiedPointCloud
+            ? displayedClassifiedSpatialFrame.palette
+            : semanticPalette}
+          classifiedCells={classifiedCellsBody}
+          classifiedPackedCells={classifiedPackedCellsBody}
+          classifiedCellSizeM={displayedClassifiedSpatialFrame?.cellSizeM}
+          showClassifiedCells={showRollingMap}
+        />
+        {classifiedSpatialLayer && !displayedClassifiedSpatialFrame ? (
+          <div className="l3-visual-audit__state" role={classifiedSpatialLayer.error ? "alert" : "status"}>
+            {classifiedSpatialLayer.loading || displayingBufferedFrame
+              ? <span className="busy-indicator" aria-hidden="true" />
+              : <Icon name="alert" size={18} />}
+            <span>{classifiedSpatialLayer.error
+              ?? (classifiedSpatialLayer.loading || displayingBufferedFrame
+                ? classifiedSpatialLayer.loadingLabel ?? `Открываем ${classifiedSpatialLayer.label}`
+                : classifiedSpatialLayer.expectedAtSequence
+                ? `Открываем ${classifiedSpatialLayer.label}`
+                : `${classifiedSpatialLayer.label} рассчитан только на 10 контрольных кадров.`)}</span>
+          </div>
         ) : null}
-        {frame && !frame.spatialAvailable ? (
+        {classifiedSpatialFrame?.sampleAvailable === false ? (
+          <div className="m4-replay-threat-visual__pane-status" role="status">
+            Кадр {classifiedSpatialFrame.sourceSequence + 1}: LiDAR отсутствует; current safety — все {classifiedCellCount.toLocaleString("ru-RU")} TGS-ячейки UNOBSERVED
+            {displayedClassifiedFrameHeld && displayedClassifiedSpatialFrame
+              ? `; для ориентации удержан последний объёмный контекст кадра ${displayedClassifiedSpatialFrame.sourceSequence + 1}.`
+              : "."}
+          </div>
+        ) : classifiedSpatialFrame && !activeSpatialFrame ? (
+          <div className="m4-replay-threat-visual__pane-status" role="status">
+            Кадр {classifiedSpatialFrame.sourceSequence + 1}: TGS costmap показан cell-only; linked source cloud для отрисовки отсутствует.
+          </div>
+        ) : frame && !frame.spatialAvailable ? (
           <div className="m4-replay-threat-visual__pane-status" role="status">
             {spatialFrame
               ? `На кадре ${frame.sequence + 1} нет body frame; держим spatial evidence кадра ${spatialFrame.sequence + 1}.`
@@ -857,7 +1182,7 @@ export function M4ReplayThreatVisual({
         {timelineFrame.loading || displayingBufferedFrame ? (
           <div className="m4-replay-threat-visual__buffering" role="status">
             <span className="busy-indicator" aria-hidden="true" />
-            <span>Догружаем следующий spatial-буфер без сброса сцены</span>
+            <span>{timelineFrame.loadingLabel ?? "Догружаем следующий spatial-буфер без сброса сцены"}</span>
           </div>
         ) : null}
         {timelineFrame.error ? (
@@ -866,13 +1191,13 @@ export function M4ReplayThreatVisual({
             <span>{timelineFrame.error}</span>
           </div>
         ) : null}
-        {semantic && semanticTimeline.loading ? (
+        {semanticSpatialResultId && semanticTimeline.loading ? (
           <div className="m4-replay-threat-visual__buffering" role="status">
             <span className="busy-indicator" aria-hidden="true" />
             <span>Догружаем semantic-point evidence E47</span>
           </div>
         ) : null}
-        {semanticTimeline.error ? (
+        {semanticSpatialResultId && semanticTimeline.error ? (
           <div className="m4-replay-threat-visual__buffering" role="alert">
             <Icon name="alert" size={16} />
             <span>{semanticTimeline.error}</span>
@@ -914,7 +1239,7 @@ export function M4ReplayThreatVisual({
     <div className="l3-visual-audit m4-replay-threat-visual">
       <LaboratoryEvidenceViewer
         label={semantic
-          ? "E47 semantic + SLAM diagnostic replay"
+          ? semantic.label ?? "Semantic diagnostic replay"
           : `${evidenceLabel} recorded-realtime replay`}
         className="m4-replay-threat-evidence-viewer"
         mode={mediaMode ?? "none"}

apps/control-station/src/workspaces/laboratory/VegetationShadowResult.tsx

@@ -0,0 +1,201 @@
+import {
+  LaboratoryEvidence,
+  LaboratoryResultSummary,
+  LaboratorySummary,
+  LaboratoryWorkTemplate,
+} from "../../components/laboratory/LaboratoryPresentation";
+import {
+  vegetationVideoMaskUrl,
+  type VegetationShadowResult,
+} from "../../core/laboratory/vegetationShadow";
+import {
+  M48MaskComparisonVisual,
+  type M48MaskComparisonCase,
+} from "./M48FailureAtlasVisual";
+import { M4ReplayThreatVisual } from "./M4ReplayThreatVisual";
+
+function decimal(value: number, digits = 1): string {
+  return value.toLocaleString("ru-RU", { maximumFractionDigits: digits });
+}
+
+const VEGETATION_LABELS: Readonly<Record<string, string>> = {
+  high_grass: "Высокая трава",
+  low_grass: "Низкая трава",
+  bush: "Куст",
+  tree_trunk: "Ствол дерева",
+  tree_crown: "Крона дерева",
+  hedge: "Живая изгородь",
+  forest: "Лесная растительность",
+  crops: "Посевы",
+};
+
+function comparisonCases(result: VegetationShadowResult): readonly M48MaskComparisonCase[] {
+  return result.validationCases.map((item) => {
+    const focus = item.focus!;
+    return {
+      caseId: item.caseId,
+      title: `${VEGETATION_LABELS[focus.className] ?? focus.className} · truth ${decimal(focus.truthFraction * 100, 1)}% кадра`,
+      sourceUrl: item.assets.source,
+      truthUrl: item.assets.truth,
+      predictions: {
+        ddrnet: item.assets.ddrnet,
+        ppliteseg: item.assets.ppliteseg,
+      },
+      errors: {
+        ddrnet: item.assets.ddrnet_error,
+        ppliteseg: item.assets.ppliteseg_error,
+      },
+    };
+  });
+}
+
+export function VegetationShadowResultView({
+  rigLabel,
+  result,
+}: {
+  rigLabel: string;
+  result: VegetationShadowResult;
+}) {
+  const selected = result.candidates.find(
+    (candidate) => candidate.candidate === result.selectedCandidate,
+  )!;
+  const alternative = result.candidates.find(
+    (candidate) => candidate.candidate !== result.selectedCandidate,
+  )!;
+  return (
+    <LaboratoryWorkTemplate
+      summary={(
+        <LaboratorySummary
+          title="LAB V1 · готовые модели растительности"
+          description={result.routeVideo
+            ? "M4.8 сохраняет truth-backed сравнение моделей, а штатный M4.7 viewer показывает фактический DDRNet prediction на всей записи RAVNOVES00. Все 4489 масок запечатаны локально и открываются без Worker 006."
+            : "Штатный M4.8-инструмент сравнивает две готовые fine-64 модели на полном GOOSE validation split и на 12 truth-backed hard cases, выбранных только по наличию нужной растительности. Sealed evidence открывается локально без Worker 006."}
+          status={result.routeVideo
+            ? "DDRNet full-video prediction ready · route truth отсутствует"
+            : "Truth-backed model comparison · route transfer не принят"}
+          statusTone="warning"
+          facts={[
+            { label: "Источник", value: "GOOSE validation · 962 размеченных кадра · 12 vegetation hard cases" },
+            { label: "Сравнение", value: "DDRNet-39 vs PPLiteSeg · official fine-64 weights" },
+            { label: "Кейсы", value: "трава · куст · ствол · крона · изгородь · лес · посевы" },
+            ...(result.routeVideo ? [{
+              label: "Видео",
+              value: "RAVNOVES00 · 4489/4489 DDRNet masks · exact recorded sequence",
+            }] : []),
+            { label: "Authority", value: `${rigLabel} · MODEL QUALIFICATION ONLY · commands OFF` },
+          ]}
+          brief={{
+            question: "Какие готовые веса лучше различают проезжаемую траву, кусты и стволы на размеченных off-road кадрах?",
+            approach: "Обе модели последовательно прогнаны в одном изолированном CUDA-runtime на 962 кадрах. 12 визуальных кейсов выбраны детерминированно по truth-поддержке восьми растительных классов; один M4.8 viewer показывает source, truth, prediction и material-error для выбранной модели.",
+            principalResult: `${selected.loadedModelName} лидирует по vegetation IoU: ${decimal(selected.vegetationMeanIouPercent, 2)}% против ${decimal(alternative.vegetationMeanIouPercent, 2)}%. ${result.routeVideo ? "Его фактическая temporal stability теперь видна на всех 4489 кадрах штатного recorded viewer." : "Ошибки по каждому типу проверяются в одном штатном инструменте."}`,
+            limitation: "GOOSE — внешний размеченный домен; RAVNOVES00 — наш fisheye, но без ручной truth-разметки. Full-video слой показывает prediction, а не доказывает правильность. Папоротник отдельным классом отсутствует.",
+          }}
+          method={{
+            completeness: "complete",
+            executionClass: "ai-inference",
+            pipelineId: "goose-fine64-ready-weights-to-ravnoves-policy-shadow/v1",
+            components: result.candidates.map((candidate) => ({
+              kind: "model" as const,
+              name: candidate.loadedModelName,
+              version: candidate.candidate,
+              role: candidate.candidate === result.selectedCandidate ? "selected policy provider" : "comparison candidate",
+              identitySha256: candidate.checkpointSha256,
+            })),
+          }}
+        />
+      )}
+      evidence={(
+        <>
+          <LaboratoryEvidence
+            eyebrow="M4.8 · GOOSE VEGETATION HARD CASES"
+            title="ERROR: красный — пропуск · жёлтый — лишнее · фиолетовый — перепутан тип · зелёный — совпадение"
+            kind="diagnostic-model"
+            resizable
+          >
+            <M48MaskComparisonVisual
+              cases={comparisonCases(result)}
+              initialCandidate={result.selectedCandidate}
+            />
+          </LaboratoryEvidence>
+          {result.routeVideo ? (
+            <LaboratoryEvidence
+              eyebrow="M4.7 · RAVNOVES00 FULL VIDEO"
+              title="DDRNet PREDICTION · 4489/4489 кадров · TRUTH для этой записи отсутствует"
+              kind="diagnostic-model"
+              resizable
+            >
+              <M4ReplayThreatVisual
+                resultId={result.routeVideo.baseM4ResultId}
+                evidenceLabel="LAB V1 · DDRNet"
+                showReferenceMediaLayers={false}
+                showSpatialOverlaySummary={false}
+                semantic={{
+                  resultId: result.routeVideo.workerResultId,
+                  spatialResultId: null,
+                  taxonomy: result.routeVideo.taxonomy,
+                  maskUrl: (sequence) => vegetationVideoMaskUrl(result.resultId, sequence),
+                  label: "DDRNet vegetation prediction · recorded video",
+                  maskAriaLabel: "DDRNet vegetation prediction",
+                }}
+              />
+            </LaboratoryEvidence>
+          ) : null}
+        </>
+      )}
+      result={(
+        <LaboratoryResultSummary
+          title="DDRNet — стартовые веса; перенос на ровер ещё не доказан"
+          status={`${selected.loadedModelName} выбран только как vegetation candidate`}
+          statusTone="warning"
+          metrics={[
+            {
+              label: "GOOSE mIoU",
+              value: `${decimal(selected.meanIouPercent, 2)}% / ${decimal(alternative.meanIouPercent, 2)}%`,
+              hint: `${selected.candidate} / ${alternative.candidate} · полный validation split`,
+            },
+            {
+              label: "Vegetation IoU",
+              value: `${decimal(selected.vegetationMeanIouPercent, 2)}% / ${decimal(alternative.vegetationMeanIouPercent, 2)}%`,
+              hint: "агрегация классов grass/vegetation/bush/tree и родственных fine-64 labels",
+            },
+            {
+              label: "Worker shadow p95",
+              value: `${decimal(selected.shadowLatencyP95Ms, 2)} / ${decimal(alternative.shadowLatencyP95Ms, 2)} ms`,
+              hint: "чистый inference · одна тяжёлая модель за раз",
+            },
+            {
+              label: "Cold prewarm",
+              value: `${decimal(selected.shadowPrewarmLatencyMs, 1)} / ${decimal(alternative.shadowPrewarmLatencyMs, 1)} ms`,
+              hint: "один явный inference до допуска кадров; исключён из steady-state p95",
+            },
+            {
+              label: "Worker throughput",
+              value: `${decimal(selected.shadowThroughputFps, 1)} / ${decimal(alternative.shadowThroughputFps, 1)} FPS`,
+              hint: "изолированный Worker 006 · не realtime graph целиком",
+            },
+            {
+              label: "Peak VRAM",
+              value: `${decimal(selected.peakReservedVramBytes / 1024 ** 3, 2)} / ${decimal(alternative.peakReservedVramBytes / 1024 ** 3, 2)} GiB`,
+              hint: `${selected.candidate} / ${alternative.candidate} · RTX 4090`,
+            },
+            {
+              label: "Hard-case evidence",
+              value: "12 truth-backed cases",
+              hint: "8 vegetation strata · Worker для открытия не требуется",
+            },
+            ...(result.routeVideo ? [{
+              label: "Route video",
+              value: "4489/4489 masks",
+              hint: "DDRNet prediction · exact sequence · Worker-independent playback",
+            }] : []),
+          ]}
+          conclusion={{
+            proved: "Обе официальные fine-64 модели воспроизводимо запускаются на Worker 006; DDRNet лучше по aggregate vegetation IoU. Truth-backed hard cases прямо показывают траву, кусты и стволы, а не случайные автомобили и здания.",
+            notProved: "Не доказаны accuracy на нашем fisheye-домене, папоротник как отдельный материал, collision safety и physical-live поведение ровера. Видео позволяет увидеть temporal stability, но без truth не превращает её в метрику качества.",
+            decision: "Смотреть полный prediction на видео и собирать конкретные temporal/domain failure cases. DDRNet остаётся diagnostic candidate; LiDAR/TGS fail-closed геометрию не ослаблять.",
+          }}
+        />
+      )}
+    />
+  );
+}

apps/control-station/src/workspaces/laboratory/laboratoryArchiveProfiles.ts

@@ -63,6 +63,13 @@ interface KnownWorkDefinition {
 const rig = (rigLabel: string): string => rigLabel.trim() || "Сенсорный риг";
 
 const KNOWN_WORKS: Readonly<Record<Exclude<LaboratoryWorkId, `session:${string}`>, KnownWorkDefinition>> = {
+  "lab-v1-vegetation-shadow": {
+    profileId: "rig-ravnoves-perception-gate-v1",
+    profileName: (rigLabel) => `${rig(rigLabel)} · GOOSE vegetation qualification`,
+    experimentId: "lab-v1-vegetation-mission-policy",
+    experimentName: "DDRNet vs PPLiteSeg · truth-backed vegetation hard cases",
+    variantName: "LAB V1 · готовые vegetation weights · GOOSE truth",
+  },
   "m48-object-centric-quality": {
     profileId: "rig-dual-evidence-virtual-corridor-v1",
     profileName: (rigLabel) => `${rig(rigLabel)} RIGHT · Camera + prediction-free spatial evidence`,
@@ -105,6 +112,20 @@ const KNOWN_WORKS: Readonly<Record<Exclude<LaboratoryWorkId, `session:${string}`
     experimentName: "RF-DETR native risk review and temporal identity",
     variantName: "M4.8Q · native raw KB4 review · quality not adjudicated",
   },
+  "m49-tgs-fail-closed-evidence": {
+    profileId: "rig-dual-evidence-virtual-corridor-v1",
+    profileName: (rigLabel) => `${rig(rigLabel)} RIGHT · Camera + gravity-aligned LiDAR`,
+    experimentId: "m49-tgs-fail-closed-evidence",
+    experimentName: "TRAVEL TGS fail-closed traversability evidence",
+    variantName: "M4.9T4 · 10 anchors · causal rolling 1 s · AOS OFF",
+  },
+  "m49-tgs-full-shadow": {
+    profileId: "rig-dual-evidence-virtual-corridor-v1",
+    profileName: (rigLabel) => `${rig(rigLabel)} RIGHT · Camera + gravity-aligned LiDAR`,
+    experimentId: "m49-tgs-full-shadow",
+    experimentName: "TRAVEL TGS complete source-paced shadow",
+    variantName: "M4.9T5 · 4 489 frames · causal rolling 1 s · CPU-only",
+  },
   "m47-reference-graph-shadow": {
     profileId: "rig-dual-evidence-virtual-corridor-v1",
     profileName: (rigLabel) => `${rig(rigLabel)} RIGHT · Camera + LiDAR dual evidence`,

apps/control-station/src/workspaces/laboratory/useAdvancedLaboratoryCatalog.ts

@@ -18,6 +18,7 @@ function mergeResults(
   next: AdvancedLaboratoryResults,
 ): AdvancedLaboratoryResults {
   return {
+    vegetationShadow: next.vegetationShadow ?? current.vegetationShadow,
     m47Graph: next.m47Graph ?? current.m47Graph,
     m48: next.m48 ?? current.m48,
     m48SmallStatic: next.m48SmallStatic ?? current.m48SmallStatic,
@@ -25,6 +26,8 @@ function mergeResults(
     m48r3StaticOccupancy: next.m48r3StaticOccupancy ?? current.m48r3StaticOccupancy,
     m48s: next.m48s ?? current.m48s,
     m48t: next.m48t ?? current.m48t,
+    m49Tgs: next.m49Tgs ?? current.m49Tgs,
+    m49TgsFull: next.m49TgsFull ?? current.m49TgsFull,
     m4Threat: next.m4Threat ?? current.m4Threat,
     l3: next.l3 ?? current.l3,
     l31: next.l31 ?? current.l31,
@@ -119,11 +122,14 @@ export function useAdvancedLaboratoryCatalog({
     const indexedResultId = index.find((item) => item.workId === selectedWorkId)?.resultId;
     if (
       [
+        "lab-v1-vegetation-shadow",
         "m47-reference-graph-shadow",
         "m48-object-centric-quality",
         "m48-small-static-passage-regression",
         "m48-static-occupancy-qualification",
         "m48r3-static-occupancy-shadow",
+        "m49-tgs-fail-closed-evidence",
+        "m49-tgs-full-shadow",
       ].includes(selectedWorkId)
       && !indexedResultId
     ) return;

apps/control-station/src/workspaces/laboratory/useM4ThreatTimeline.ts

@@ -2,10 +2,15 @@ import { useEffect, useMemo, useRef, useState } from "react";
 
 import {
   fetchM4ThreatCameraPointOverlay,
+  fetchM4ThreatPlaybackManifest,
+  fetchM4ThreatPlaybackPointChunk,
   fetchM4ThreatTimeline,
   fetchM4ThreatTimelineChunk,
+  M4_THREAT_TIMELINE_ENDPOINT_ROOT,
   selectM4ThreatTimelineSequence,
   type M4ThreatCameraPointOverlay,
+  type M4ThreatPlaybackManifest,
+  type M4ThreatPlaybackProgress,
   type M4ThreatTimeline,
   type M4ThreatTimelineChunk,
   type M4ThreatTimelineFrame,
@@ -82,11 +87,48 @@ export function useM4ThreatTimelineFrame({
     () => new Map(),
   );
   const [error, setError] = useState<string | null>(null);
+  const [playbackManifest, setPlaybackManifest] = useState<M4ThreatPlaybackManifest | null>(null);
+  const [playbackProgress, setPlaybackProgress] = useState<M4ThreatPlaybackProgress>({
+    phase: "manifest",
+    loadedBytes: 0,
+    totalBytes: 0,
+  });
+  const [playbackError, setPlaybackError] = useState<string | null>(null);
+  const binaryPlayback = endpointRoot === undefined
+    || endpointRoot === M4_THREAT_TIMELINE_ENDPOINT_ROOT;
   const inFlight = useRef(new Map<number, AbortController>());
   const chunksRef = useRef(chunks);
   const activeChunkStartRef = useRef<number | null>(null);
   chunksRef.current = chunks;
 
+  useEffect(() => {
+    const controller = new AbortController();
+    setPlaybackManifest(null);
+    setPlaybackError(null);
+    setPlaybackProgress({ phase: "manifest", loadedBytes: 0, totalBytes: 0 });
+    if (!timeline) return () => controller.abort();
+    if (!binaryPlayback) {
+      setPlaybackProgress({ phase: "ready", loadedBytes: 0, totalBytes: 0 });
+      return () => controller.abort();
+    }
+    void fetchM4ThreatPlaybackManifest(resultId, {
+      signal: controller.signal,
+      endpointRoot,
+    })
+      .then((manifest) => {
+        if (!controller.signal.aborted) {
+          setPlaybackManifest(manifest);
+          setPlaybackProgress({ phase: "ready", loadedBytes: 0, totalBytes: 0 });
+        }
+      })
+      .catch((caught: unknown) => {
+        if (!controller.signal.aborted) {
+          setPlaybackError(errorMessage(caught, "Бинарный spatial playback M4.6 недоступен."));
+        }
+      });
+    return () => controller.abort();
+  }, [binaryPlayback, endpointRoot, resultId, timeline]);
+
   useEffect(() => {
     for (const controller of inFlight.current.values()) controller.abort();
     inFlight.current.clear();
@@ -116,7 +158,7 @@ export function useM4ThreatTimelineFrame({
   activeChunkStartRef.current = activeChunkStart;
 
   useEffect(() => {
-    if (!timeline || activeChunkStart === null) return;
+    if (!timeline || activeChunkStart === null || (binaryPlayback && !playbackManifest)) return;
     const starts = m4ThreatChunkWindowStarts(
       activeChunkStart,
       chunkSize,
@@ -127,11 +169,28 @@ export function useM4ThreatTimelineFrame({
       if (chunksRef.current.has(start) || inFlight.current.has(start)) continue;
       const controller = new AbortController();
       inFlight.current.set(start, controller);
-      void fetchM4ThreatTimelineChunk(resultId, start, chunkSize, {
-        signal: controller.signal,
-        endpointRoot,
-        cameraObstacleProjectionDelivery: timeline.cameraObstacleProjectionDelivery,
-      })
+      void (async () => {
+        const playbackPointPack = binaryPlayback && playbackManifest
+          ? await fetchM4ThreatPlaybackPointChunk(
+              playbackManifest,
+              Math.floor(start / playbackManifest.chunkFrameCount),
+              {
+                signal: controller.signal,
+                onProgress: (progress) => {
+                  if (!controller.signal.aborted && start === activeChunkStartRef.current) {
+                    setPlaybackProgress(progress);
+                  }
+                },
+              },
+            )
+          : undefined;
+        return fetchM4ThreatTimelineChunk(resultId, start, chunkSize, {
+          signal: controller.signal,
+          endpointRoot,
+          cameraObstacleProjectionDelivery: timeline.cameraObstacleProjectionDelivery,
+          playbackPointPack,
+        });
+      })()
         .then((chunk) => {
           if (controller.signal.aborted) return;
           setChunks((current) => {
@@ -161,7 +220,7 @@ export function useM4ThreatTimelineFrame({
       // loaded first, then the next chunk is prefetched on the following render.
       break;
     }
-  }, [activeChunkStart, chunkSize, chunks, endpointRoot, resultId, timeline]);
+  }, [activeChunkStart, binaryPlayback, chunkSize, chunks, endpointRoot, playbackManifest, resultId, timeline]);
 
   const activeFrame: M4ThreatTimelineFrame | null = useMemo(() => {
     if (activeSequence === null || activeChunkStart === null) return null;
@@ -181,8 +240,17 @@ export function useM4ThreatTimelineFrame({
     activeSequence,
     activeFrame,
     availableFrames,
-    loading: error === null && Boolean(timeline) && !activeFrame,
-    error,
+    loading: error === null && playbackError === null && Boolean(timeline) && !activeFrame,
+    loadingLabel: !binaryPlayback
+      ? "Догружаем следующий spatial-буфер без сброса сцены"
+      : playbackProgress.phase === "manifest"
+      ? "Проверяем M4 playback manifest"
+      : playbackProgress.phase === "ready"
+        ? "Подготавливаем текущий spatial-кадр"
+        : `${playbackProgress.phase === "verify" ? "Проверяем" : "Буферизуем"} текущий spatial chunk · ${playbackProgress.totalBytes > 0
+          ? `${Math.min(100, Math.round(playbackProgress.loadedBytes / playbackProgress.totalBytes * 100))}% · ${(playbackProgress.loadedBytes / 1_048_576).toFixed(1)} МБ`
+          : "0%"}`,
+    error: playbackError ?? error,
   };
 }
 

apps/control-station/src/workspaces/simulation/SimulationWorkspace.tsx

@@ -1,25 +1,45 @@
-import { useCallback, useEffect, useMemo, useState } from "react";
+import {
+  useCallback,
+  useEffect,
+  useMemo,
+  useRef,
+  useState,
+  type DragEvent,
+} from "react";
 import {
   ActivityIndicator,
   Button,
   ConfirmationModal,
   GlassSurface,
   Icon,
-  IconButton,
   StatusBadge,
 } from "@nodedc/ui-react";
 
+import { SimulationCatalog } from "../../components/simulation/SimulationCatalog";
 import { SimulationProjectWindow } from "../../components/simulation/SimulationProjectWindow";
 import { SimulationViewport } from "../../components/simulation/SimulationViewport";
 import {
+  createSimulationProject,
   deleteSimulationProject,
   fetchSimulationProjects,
   retrySimulationProject,
+  uploadSimulationProjectSource,
   type SimulationProject,
   type SimulationProjectStatus,
+  type SimulationUploadProgress,
 } from "../../core/simulation/projects";
+import {
+  archiveProjectName,
+  archivesFromDrop,
+  hasDroppedFiles,
+} from "../../core/simulation/sourceFiles";
 
-const ACTIVE_STATUSES = new Set<SimulationProjectStatus>(["queued", "processing", "importing"]);
+const BUILD_STATUSES = new Set<SimulationProjectStatus>(["queued", "processing", "importing"]);
+
+interface BrowserUpload {
+  project: SimulationProject;
+  file: File;
+}
 
 export function SimulationWorkspace() {
   const [projects, setProjects] = useState<SimulationProject[]>([]);
@@ -30,6 +50,15 @@ export function SimulationWorkspace() {
   const [editing, setEditing] = useState<SimulationProject | null>(null);
   const [deleting, setDeleting] = useState<SimulationProject | null>(null);
   const [retryingId, setRetryingId] = useState<string | null>(null);
+  const [pendingUploads, setPendingUploads] = useState<BrowserUpload[]>([]);
+  const [uploadProgress, setUploadProgress] = useState<Map<string, SimulationUploadProgress>>(
+    () => new Map(),
+  );
+  const [queueError, setQueueError] = useState<string | null>(null);
+  const [dropping, setDropping] = useState(false);
+  const activeUploadRef = useRef<{ projectId: string; controller: AbortController } | null>(null);
+  const intakeChainRef = useRef<Promise<void>>(Promise.resolve());
+  const dragDepthRef = useRef(0);
 
   const load = useCallback(async (signal?: AbortSignal) => {
     try {
@@ -51,11 +80,60 @@ export function SimulationWorkspace() {
   }, [load]);
 
   useEffect(() => {
-    if (!projects.some((project) => ACTIVE_STATUSES.has(project.status))) return;
+    if (!projects.some((project) => BUILD_STATUSES.has(project.status))) return;
     const timer = window.setInterval(() => void load(), 2_000);
     return () => window.clearInterval(timer);
   }, [load, projects]);
 
+  useEffect(() => {
+    const next = pendingUploads[0];
+    if (!next || activeUploadRef.current) return;
+    const controller = new AbortController();
+    activeUploadRef.current = { projectId: next.project.projectId, controller };
+    void uploadSimulationProjectSource(
+      next.project,
+      [{ file: next.file, logicalPath: next.file.name }],
+      (progress) => {
+        setUploadProgress((current) => {
+          const updated = new Map(current);
+          updated.set(next.project.projectId, progress);
+          return updated;
+        });
+        setProjects((current) => current.map((project) => (
+          project.projectId === next.project.projectId
+            ? {
+                ...project,
+                source: { ...project.source, uploadedByteLength: progress.uploadedBytes },
+              }
+            : project
+        )));
+      },
+      controller.signal,
+    ).then((queued) => {
+      setProjects((current) => current.map((project) => (
+        project.projectId === queued.projectId ? queued : project
+      )));
+      setQueueError(null);
+    }).catch((caught) => {
+      if (controller.signal.aborted) return;
+      setQueueError(caught instanceof Error
+        ? `${next.file.name}: ${caught.message}`
+        : `${next.file.name}: загрузка остановлена.`);
+    }).finally(() => {
+      setPendingUploads((current) => current.filter(
+        (item) => item.project.projectId !== next.project.projectId,
+      ));
+      setUploadProgress((current) => {
+        const updated = new Map(current);
+        updated.delete(next.project.projectId);
+        return updated;
+      });
+      activeUploadRef.current = null;
+    });
+  }, [pendingUploads]);
+
+  useEffect(() => () => activeUploadRef.current?.controller.abort(), []);
+
   const selected = useMemo(
     () => projects.find((project) => project.projectId === selectedId) ?? null,
     [projects, selectedId],
@@ -72,8 +150,9 @@ export function SimulationWorkspace() {
   };
 
   const acceptSaved = (project: SimulationProject) => {
+    const wasEditing = editing !== null;
     setProjects((current) => [project, ...current.filter((item) => item.projectId !== project.projectId)]);
-    setSelectedId(project.projectId);
+    if (!wasEditing) setSelectedId(project.projectId);
     setWindowOpen(false);
     setEditing(null);
   };
@@ -86,10 +165,77 @@ export function SimulationWorkspace() {
 
   const confirmDelete = async () => {
     if (!deleting) return;
-    await deleteSimulationProject(deleting.projectId);
-    setProjects((current) => current.filter((project) => project.projectId !== deleting.projectId));
-    if (selectedId === deleting.projectId) setSelectedId(null);
-    setDeleting(null);
+    const pending = pendingUploads.find((item) => item.project.projectId === deleting.projectId);
+    if (activeUploadRef.current?.projectId === deleting.projectId) {
+      activeUploadRef.current.controller.abort();
+    }
+    setPendingUploads((current) => current.filter(
+      (item) => item.project.projectId !== deleting.projectId,
+    ));
+    try {
+      await deleteSimulationProject(deleting.projectId);
+      setProjects((current) => current.filter((project) => project.projectId !== deleting.projectId));
+      setUploadProgress((current) => {
+        const updated = new Map(current);
+        updated.delete(deleting.projectId);
+        return updated;
+      });
+      if (selectedId === deleting.projectId) setSelectedId(null);
+      setDeleting(null);
+    } catch (caught) {
+      if (pending) setPendingUploads((current) => [pending, ...current]);
+      const message = caught instanceof Error ? caught.message : "Не удалось удалить проект.";
+      setQueueError(message);
+      throw caught;
+    }
+  };
+
+  const enqueueDroppedArchives = useCallback((files: File[]) => {
+    intakeChainRef.current = intakeChainRef.current.then(async () => {
+      for (const file of files) {
+        try {
+          const project = await createSimulationProject(
+            archiveProjectName(file.name),
+            "outdoor",
+            [{ file, logicalPath: file.name }],
+          );
+          setProjects((current) => [
+            project,
+            ...current.filter((item) => item.projectId !== project.projectId),
+          ]);
+          setPendingUploads((current) => [...current, { project, file }]);
+        } catch (caught) {
+          setQueueError(caught instanceof Error
+            ? `${file.name}: ${caught.message}`
+            : `${file.name}: не удалось создать проект.`);
+        }
+      }
+    });
+  }, []);
+
+  const handleDrop = async (transfer: DataTransfer) => {
+    dragDepthRef.current = 0;
+    setDropping(false);
+    setQueueError(null);
+    try {
+      enqueueDroppedArchives(await archivesFromDrop(transfer));
+    } catch (caught) {
+      setQueueError(caught instanceof Error ? caught.message : "Архивы не приняты.");
+    }
+  };
+
+  const handleDragEnter = (event: DragEvent<HTMLDivElement>) => {
+    if (!hasDroppedFiles(event.dataTransfer)) return;
+    event.preventDefault();
+    dragDepthRef.current += 1;
+    setDropping(true);
+  };
+
+  const handleDragLeave = (event: DragEvent<HTMLDivElement>) => {
+    if (!hasDroppedFiles(event.dataTransfer)) return;
+    event.preventDefault();
+    dragDepthRef.current = Math.max(0, dragDepthRef.current - 1);
+    if (dragDepthRef.current === 0) setDropping(false);
   };
 
   const retry = async (project: SimulationProject) => {
@@ -141,7 +287,7 @@ export function SimulationWorkspace() {
             </div>
             <div className="simulation-workspace__processing-actions">
               <StatusBadge tone={selected.status === "failed" ? "warning" : "accent"}>
-                {selected.provider.state ?? selected.status}
+                {providerStateLabel(selected.provider.state, selected.status)}
               </StatusBadge>
               {selected.status === "failed" ? (
                 <Button
@@ -164,93 +310,45 @@ export function SimulationWorkspace() {
   }
 
   return (
-    <div className="simulation-workspace">
+    <div
+      className="simulation-workspace"
+      onDragEnter={handleDragEnter}
+      onDragOver={(event) => {
+        if (!hasDroppedFiles(event.dataTransfer)) return;
+        event.preventDefault();
+        event.dataTransfer.dropEffect = "copy";
+      }}
+      onDragLeave={handleDragLeave}
+      onDrop={(event) => {
+        if (!hasDroppedFiles(event.dataTransfer)) return;
+        event.preventDefault();
+        void handleDrop(event.dataTransfer);
+      }}
+    >
       <header className="simulation-workspace__head">
         <div>
           <span className="section-eyebrow">ТЕСТОВЫЙ КОНТУР / СИМУЛЯЦИИ</span>
           <h2>Gaussian-миры</h2>
-          <p>Каталог исходников, сборок Worker 006 и полнофункциональных PlayCanvas-сцен.</p>
+          <p>Каталог исходников, сборок Worker 006 и полнофункциональных интерактивных сцен.</p>
         </div>
         <Button variant="primary" icon={<Icon name="plus" size={16} />} onClick={openCreate}>
           Новый проект
         </Button>
       </header>
 
-      <section className="simulation-catalog" aria-label="Проекты симуляции">
-        <header className="simulation-catalog__summary">
-          <div><span>Проектов</span><strong>{projects.length.toLocaleString("ru-RU")}</strong></div>
-          <div><span>Готово</span><strong>{projects.filter((project) => project.status === "ready").length}</strong></div>
-          <div><span>В работе</span><strong>{projects.filter((project) => ACTIVE_STATUSES.has(project.status)).length}</strong></div>
-          <div><span>Исходники</span><strong>{formatBytes(projects.reduce((sum, project) => sum + project.source.totalByteLength, 0))}</strong></div>
-        </header>
-        {loading ? (
-          <div className="simulation-catalog__state" role="status">
-            <ActivityIndicator label="Загрузка каталога" />
-            <span>Читаем каталог сцен</span>
-          </div>
-        ) : error ? (
-          <div className="simulation-catalog__state" role="alert">
-            <Icon name="alert" size={20} />
-            <div><strong>Каталог недоступен</strong><span>{error}</span></div>
-            <Button size="compact" onClick={() => void load()}>Повторить</Button>
-          </div>
-        ) : projects.length === 0 ? (
-          <div className="simulation-catalog__empty">
-            <span><Icon name="globe" size={20} /></span>
-            <strong>Проектов пока нет</strong>
-            <p>Создайте первый мир из папки LCC/LCC2 или архива ZIP, RAR, 7z.</p>
-            <Button variant="primary" icon={<Icon name="upload" size={16} />} onClick={openCreate}>
-              Загрузить исходник
-            </Button>
-          </div>
-        ) : (
-          <div className="simulation-catalog__table-wrap">
-            <table className="simulation-catalog__table">
-              <thead>
-                <tr>
-                  <th>Проект</th>
-                  <th>Источник</th>
-                  <th>Размер</th>
-                  <th>Сплаты</th>
-                  <th>Статус</th>
-                  <th>Обновлён</th>
-                  <th aria-label="Действия" />
-                </tr>
-              </thead>
-              <tbody>
-                {projects.map((project) => {
-                  const status = statusPresentation(project.status);
-                  return (
-                    <tr key={project.projectId} data-status={project.status}>
-                      <td>
-                        <button type="button" onClick={() => setSelectedId(project.projectId)}>
-                          <span className="simulation-catalog__project-icon"><Icon name="globe" size={18} /></span>
-                          <span><strong>{project.name}</strong><small>{sceneTypeLabel(project.sceneType)}</small></span>
-                        </button>
-                      </td>
-                      <td>{project.source.kind === "archive" ? "Архив" : "Папка"}<small>{project.source.files.length} файл(ов)</small></td>
-                      <td>{formatBytes(project.source.totalByteLength)}</td>
-                      <td>—</td>
-                      <td><StatusBadge tone={status.tone}>{status.label}</StatusBadge></td>
-                      <td>{formatDate(project.updatedAtUtc)}</td>
-                      <td>
-                        <div className="simulation-catalog__actions">
-                          <IconButton label={`Удалить ${project.name}`} disabled={ACTIVE_STATUSES.has(project.status)} onClick={() => setDeleting(project)}>
-                            <Icon name="trash" size={16} />
-                          </IconButton>
-                          <IconButton label={`Редактировать ${project.name}`} onClick={() => openEdit(project)}>
-                            <Icon name="edit" size={16} />
-                          </IconButton>
-                        </div>
-                      </td>
-                    </tr>
-                  );
-                })}
-              </tbody>
-            </table>
-          </div>
-        )}
-      </section>
+      <SimulationCatalog
+        projects={projects}
+        uploadProgress={uploadProgress}
+        loading={loading}
+        loadError={error}
+        queueError={queueError}
+        dropping={dropping}
+        onCreate={openCreate}
+        onRetryLoad={() => void load()}
+        onSelect={(project) => setSelectedId(project.projectId)}
+        onEdit={openEdit}
+        onDelete={setDeleting}
+      />
 
       <SimulationProjectWindow
         open={windowOpen}
@@ -280,7 +378,7 @@ function statusPresentation(status: SimulationProjectStatus): {
   label: string;
   tone: "success" | "accent" | "warning" | "neutral";
 } {
-  if (status === "ready") return { label: "Готово", tone: "success" };
+  if (status === "ready") return { label: "Визуал готов", tone: "success" };
   if (status === "failed") return { label: "Ошибка", tone: "warning" };
   if (status === "uploading") return { label: "Загрузка", tone: "neutral" };
   if (status === "importing") return { label: "Импорт", tone: "accent" };
@@ -294,28 +392,20 @@ function processingMessage(project: SimulationProject): string {
   if (typeof completed === "number" && typeof total === "number") {
     return `Этап ${completed.toLocaleString("ru-RU")} из ${total.toLocaleString("ru-RU")}. Каталог обновляется автоматически.`;
   }
-  return "Исходник подтверждён; конвертация SOG и Streamed SOG выполняется в переносимом контейнере.";
+  return "Исходник подтверждён; локация и её LOD-уровни собираются в переносимом контейнере.";
 }
 
-function sceneTypeLabel(value: SimulationProject["sceneType"]): string {
-  if (value === "interior") return "Интерьер";
-  if (value === "object") return "Объект";
-  return "Улица";
-}
-
-function formatDate(value: string): string {
-  const date = new Date(value);
-  return Number.isNaN(date.valueOf()) ? "—" : date.toLocaleString("ru-RU", {
-    day: "2-digit",
-    month: "short",
-    hour: "2-digit",
-    minute: "2-digit",
-  });
-}
-
-function formatBytes(value: number): string {
-  if (value < 1024) return `${value} Б`;
-  if (value < 1024 ** 2) return `${(value / 1024).toLocaleString("ru-RU", { maximumFractionDigits: 1 })} КБ`;
-  if (value < 1024 ** 3) return `${(value / 1024 ** 2).toLocaleString("ru-RU", { maximumFractionDigits: 1 })} МБ`;
-  return `${(value / 1024 ** 3).toLocaleString("ru-RU", { maximumFractionDigits: 2 })} ГБ`;
+function providerStateLabel(
+  state: string | null,
+  projectStatus: SimulationProjectStatus,
+): string {
+  if (state === "queued") return "Ожидание";
+  if (state === "verifying_source") return "Проверка исходника";
+  if (state === "inspecting") return "Анализ локации";
+  if (state === "building_preview") return "Подготовка локации";
+  if (state === "building_streamed_sog") return "Сборка LOD";
+  if (state === "building_collision") return "Сборка коллизий";
+  if (state === "ready") return "Визуал готов";
+  if (state === "failed") return "Ошибка";
+  return statusPresentation(projectStatus).label;
 }

apps/control-station/test/advancedLaboratoryResults.test.mjs

@@ -7,6 +7,7 @@ let server;
 let fetchAdvancedLaboratoryResults;
 let fetchAdvancedLaboratoryIndex;
 let fetchAdvancedLaboratoryResult;
+let fetchM49TgsAnchorSpatial;
 let AdvancedLaboratoryContractError;
 let buildLaboratoryCatalog;
 let buildLaboratoryProfiles;
@@ -836,6 +837,77 @@ function e40() {
   };
 }
 
+function m49View() {
+  const anchors = [171, 306, 368, 402, 450, 509, 525, 744, 1122, 1856];
+  return {
+    schema_version: "missioncore.m49-tgs-fail-closed-view/v1",
+    result_id: `m49-tgs-fail-closed-${"2".repeat(64)}`,
+    created_at_utc: "2026-08-26T17:09:43Z",
+    source: {
+      source_id: "RAVNOVES00",
+      source_session_id: "20260720T065719Z_viewer_live",
+      source_pack_sha256: "3".repeat(64),
+      linked_visual_result_id: `m4-threat-replay-${"4".repeat(64)}`,
+      anchor_frame_indices: anchors,
+    },
+    configuration: {
+      profile_id: "m49-ravnoves00-tgs-fail-closed-evidence/v1",
+      config_sha256: "5".repeat(64),
+      coordinate_frame: "map-gravity-local",
+      primary_profile: "causal_rolling_1s",
+      cell_size_m: 0.45,
+      radius_m: 12,
+    },
+    execution: {
+      worker: "Worker 006",
+      device: "cpu",
+      gpu_used: false,
+      wrapper_elapsed_seconds: 12.1,
+    },
+    metrics: {
+      anchor_count: 10,
+      anchor_profile_count: 20,
+      all_eligible_points_accounted: true,
+      costmap_cell_count: 2244,
+      process_wall_current_p50_ms: 20,
+      process_wall_current_max_ms: 30,
+      process_wall_rolling_p50_ms: 30,
+      process_wall_rolling_max_ms: 40,
+      process_max_rss_kib: 9292,
+      primary: anchors.map((anchor, slot) => ({
+        anchor_frame_index: anchor,
+        slot,
+        profile_id: "causal_rolling_1s",
+        point_count: 3,
+        ground_point_count: 1,
+        nonground_point_count: 1,
+        rejected_point_count: 1,
+        ground_cell_count: 1,
+        nonground_cell_count: 1,
+        rejected_cell_count: 1,
+        unobserved_cell_count: 2241,
+        all_points_accounted: true,
+      })),
+    },
+    acceptance: {
+      representation_complete: true,
+      all_points_accounted: true,
+      aos_absent: true,
+      gpu_absent: true,
+      visual_quality_accepted: false,
+      traversability_accepted: false,
+    },
+    decision: {
+      state: "visual-review-required",
+      candidate_retained: true,
+      next_action: "Review the ten anchors.",
+    },
+    limitations: ["bounded diagnostic evidence"],
+    ground_truth: false,
+    access: "read-only",
+  };
+}
+
 before(async () => {
   server = await createServer({
     appType: "custom",
@@ -850,6 +922,9 @@ before(async () => {
     fetchAdvancedLaboratoryIndex,
     fetchAdvancedLaboratoryResult,
   } = await server.ssrLoadModule("/src/core/laboratory/advancedIndex.ts"));
+  ({ fetchM49TgsAnchorSpatial } = await server.ssrLoadModule(
+    "/src/core/laboratory/m49TgsFailClosed.ts",
+  ));
   ({
     buildLaboratoryCatalog,
     buildLaboratoryProfiles,
@@ -1596,6 +1671,62 @@ test("selected advanced LAB fetches only its own strict catalog", async () => {
   ]);
 });
 
+test("selected M49 LAB preserves the sealed fail-closed contract", async () => {
+  const payload = m49View();
+  const requests = [];
+  const decoded = await fetchAdvancedLaboratoryResult(
+    "m49-tgs-fail-closed-evidence",
+    {
+      resultId: payload.result_id,
+      fetcher: async (input, init) => {
+        requests.push({ input: String(input), method: init?.method });
+        return new Response(JSON.stringify(payload), { status: 200 });
+      },
+    },
+  );
+
+  assert.equal(decoded.m49Tgs.metrics.anchorCount, 10);
+  assert.equal(decoded.m49Tgs.metrics.costmapCellCount, 2244);
+  assert.equal(decoded.m49Tgs.acceptance.visualQualityAccepted, false);
+  assert.deepEqual(requests, [{
+    input: `/api/v1/laboratory/m49/tgs-fail-closed/${payload.result_id}`,
+    method: "GET",
+  }]);
+});
+
+test("M49 anchor fetch keeps every point and all four costmap states", async () => {
+  const resultId = m49View().result_id;
+  const centers = Array.from({ length: 2244 }, (_, index) => [index * 0.45, 0]);
+  const states = Array.from({ length: 2244 }, (_, index) => index % 4);
+  const zBounds = states.map((state) => state === 0 ? [null, null] : [0, 0.2]);
+  const decoded = await fetchM49TgsAnchorSpatial(resultId, 171, "causal_rolling_1s", {
+    fetcher: async () => new Response(JSON.stringify({
+      schema_version: "missioncore.m49-tgs-anchor-spatial/v1",
+      result_id: resultId,
+      anchor_frame_index: 171,
+      source_sequence: 171,
+      profile: "causal_rolling_1s",
+      coordinate_frame: "map-gravity-local",
+      points_xyz_m: [[1, 2, 3], [4, 5, 6], [7, 8, 9]],
+      point_states: [1, 2, 3],
+      costmap: {
+        cell_size_m: 0.45,
+        radius_m: 12,
+        centers_xy_m: centers,
+        states,
+        z_bounds_m: zBounds,
+      },
+      all_points_accounted: true,
+      aos_used: false,
+      access: "read-only",
+    }), { status: 200 }),
+  });
+
+  assert.deepEqual(decoded.pointStates, [1, 2, 3]);
+  assert.equal(decoded.costmap.states.length, 2244);
+  assert.deepEqual(new Set(decoded.costmap.states), new Set([0, 1, 2, 3]));
+});
+
 test("keeps valid LAB catalogs available when one transport endpoint fails", async () => {
   const decoded = await fetchAdvancedLaboratoryResults({
     fetcher: async (input) => {

apps/control-station/test/m48ObjectCentricQuality.test.mjs

@@ -691,3 +691,18 @@ test("metric evidence keeps one WebGL renderer while frame labels advance", () =
     /querySelector\("canvas"\)[\s\S]*?setAttribute\("aria-label", label\)[\s\S]*?\}, \[label\]\);/,
   );
 });
+
+test("metric evidence renders on demand while preserving damped camera interaction", () => {
+  const source = readFileSync(
+    new URL("../src/components/laboratory/LaboratoryMetricEvidenceScene.tsx", import.meta.url),
+    "utf8",
+  );
+
+  assert.match(source, /const requestRenderRef = useRef/);
+  assert.match(source, /controls\.addEventListener\("change", requestRender\)/);
+  assert.match(source, /requestRenderRef\.current\(\)/);
+  assert.doesNotMatch(
+    source,
+    /const render = \(\) => \{\s*animationFrame = window\.requestAnimationFrame\(render\)/,
+  );
+});

apps/control-station/test/m49PhysicalSafetyPlayback.test.mjs

@@ -0,0 +1,234 @@
+import assert from "node:assert/strict";
+import { createHash } from "node:crypto";
+import { after, before, test } from "node:test";
+
+import { createServer } from "vite";
+
+let server;
+let M49PhysicalSafetyPlaybackBuffer;
+let fetchM49PhysicalSafetyPlaybackIdForSource;
+
+const resultId = `m49-physical-safety-playback-${"a".repeat(64)}`;
+const endpoint = `/api/v1/laboratory/m49/physical-safety-playback/${resultId}`;
+const frameCount = 160;
+const cellCount = 4;
+
+before(async () => {
+  server = await createServer({
+    appType: "custom",
+    logLevel: "silent",
+    server: { middlewareMode: true },
+  });
+  ({
+    M49PhysicalSafetyPlaybackBuffer,
+    fetchM49PhysicalSafetyPlaybackIdForSource,
+  } = await server.ssrLoadModule(
+    "/src/core/laboratory/m49PhysicalSafetyPlayback.ts",
+  ));
+});
+
+after(async () => {
+  await server?.close();
+});
+
+function sha256(buffer) {
+  return createHash("sha256").update(Buffer.from(buffer)).digest("hex");
+}
+
+function chunk(index) {
+  const start = index * 32;
+  const count = Math.min(32, frameCount - start);
+  const stateBytes = count * cellCount;
+  const zBytes = count * cellCount * 2 * 4;
+  const headerBytes = 28;
+  const padding = (4 - ((headerBytes + stateBytes) % 4)) % 4;
+  const buffer = new ArrayBuffer(headerBytes + stateBytes + padding + zBytes);
+  const bytes = new Uint8Array(buffer);
+  bytes.set(new TextEncoder().encode("MCPSCH01"));
+  const view = new DataView(buffer);
+  view.setUint32(8, start, true);
+  view.setUint32(12, count, true);
+  view.setUint32(16, cellCount, true);
+  view.setUint32(20, stateBytes, true);
+  view.setUint32(24, zBytes, true);
+  const states = new Uint8Array(buffer, headerBytes, stateBytes);
+  states.fill(1);
+  const z = new Float32Array(buffer, headerBytes + stateBytes + padding, count * cellCount * 2);
+  for (let local = 0; local < count; local += 1) {
+    const sequence = start + local;
+    for (let cell = 0; cell < cellCount; cell += 1) {
+      z[(local * cellCount + cell) * 2] = 0;
+      z[(local * cellCount + cell) * 2 + 1] = 0.12;
+    }
+    if (sequence === 17) {
+      states.fill(0, local * cellCount, (local + 1) * cellCount);
+      z.fill(Number.NaN, local * cellCount * 2, (local + 1) * cellCount * 2);
+    }
+  }
+  return buffer;
+}
+
+function fixture() {
+  const centers = new Float32Array([0, 0, 0.15, 0, 0.3, 0, 0.45, 0]).buffer;
+  const frames = new TextEncoder().encode(Array.from({ length: frameCount }, (_, sequence) => (
+    JSON.stringify({
+      source_frame_index: sequence,
+      session_seconds: sequence / 10,
+      sample_available: sequence !== 17,
+      eligible_point_count: sequence === 17 ? 0 : cellCount,
+    })
+  )).join("\n") + "\n").buffer;
+  const chunks = Array.from({ length: Math.ceil(frameCount / 32) }, (_, index) => chunk(index));
+  const manifest = {
+    schema_version: "missioncore.m49-physical-safety-playback/v1",
+    result_id: resultId,
+    created_at_utc: "2026-08-27T12:00:00Z",
+    access: "read-only-sealed-local",
+    identity: { source_result_id: `m49-tgs-full-shadow-${"b".repeat(64)}` },
+    execution: {
+      execution_class: "local-sequential-offline",
+      worker_role: "realtime-only",
+      worker_runtime_dependency: false,
+      worker_requests_required: 0,
+    },
+    authority: {
+      commands_enabled: false,
+      navigation_or_safety_accepted: false,
+      actuation_accepted: false,
+    },
+    playback: {
+      coordinate_frame: "map-gravity-local",
+      source_pace_hz: 10,
+      frame_count: frameCount,
+      cell_count: cellCount,
+      cell_size_m: 0.15,
+      radius_m: 12,
+      state_codes: {
+        UNOBSERVED: 0,
+        GROUND_SUPPORT: 1,
+        NONGROUND_OCCUPIED: 2,
+        UNKNOWN_REJECTED: 3,
+      },
+      chunk_frame_count: 32,
+      startup_prebuffer_chunk_count: 2,
+      resident_chunk_count_max: 3,
+      forward_prefetch_chunk_count: 1,
+      centers: {
+        url: `${endpoint}/tracks/centers`,
+        media_type: "application/octet-stream",
+        byte_length: centers.byteLength,
+        sha256: sha256(centers),
+        dtype: "<f4",
+        shape: [cellCount, 2],
+      },
+      frames: {
+        url: `${endpoint}/tracks/frames`,
+        media_type: "application/x-ndjson",
+        byte_length: frames.byteLength,
+        sha256: sha256(frames),
+        dtype: "ndjson",
+        shape: [frameCount],
+      },
+      chunks: chunks.map((buffer, index) => ({
+        index,
+        start: index * 32,
+        count: Math.min(32, frameCount - index * 32),
+        url: `${endpoint}/chunks/${index}`,
+        media_type: "application/octet-stream",
+        byte_length: buffer.byteLength,
+        sha256: sha256(buffer),
+        header_bytes: 28,
+        format: "mcpsch01-states-u8-aligned-z-bounds-f32le",
+      })),
+    },
+  };
+  const responses = new Map([
+    [`${endpoint}/tracks/centers`, centers],
+    [`${endpoint}/tracks/frames`, frames],
+    ...chunks.map((buffer, index) => [`${endpoint}/chunks/${index}`, buffer]),
+  ]);
+  return { manifest, responses };
+}
+
+test("physical-safety playback opens and seeks with bounded local chunks only", async () => {
+  const { manifest, responses } = fixture();
+  const requested = [];
+  const progress = [];
+  const fetcher = async (input) => {
+    const url = String(input);
+    requested.push(url);
+    if (url === `${endpoint.replace(`/${resultId}`, "")}/results?limit=2&source_result_id=${manifest.identity.source_result_id}`) {
+      return Response.json({
+        schema_version: "missioncore.m49-physical-safety-playback-catalog/v1",
+        worker_runtime_dependency: false,
+        access: "read-only-sealed-local",
+        items: [{
+          result_id: resultId,
+          source_result_id: manifest.identity.source_result_id,
+          worker_runtime_dependency: false,
+          navigation_or_safety_accepted: false,
+        }],
+      });
+    }
+    if (url === `${endpoint}/manifest`) {
+      return Response.json(manifest);
+    }
+    const payload = responses.get(url);
+    return payload
+      ? new Response(payload, { headers: { "Content-Type": "application/octet-stream" } })
+      : new Response(null, { status: 404 });
+  };
+
+  const resolvedResultId = await fetchM49PhysicalSafetyPlaybackIdForSource(
+    manifest.identity.source_result_id,
+    { fetcher },
+  );
+  assert.equal(resolvedResultId, resultId);
+  const playback = await M49PhysicalSafetyPlaybackBuffer.open(resolvedResultId, {
+    fetcher,
+    onProgress: (value) => progress.push(value),
+  });
+
+  assert.deepEqual(playback.residentChunkIndexes, [0, 1]);
+  assert.equal(progress.at(-1).phase, "ready");
+  assert.equal(requested.some((url) => url.includes("worker")), false);
+  const startupRequestCount = requested.length;
+  await playback.prepare(0);
+  await playback.prepare(0);
+  assert.equal(requested.length, startupRequestCount);
+  const missing = await playback.frame(17);
+  assert.equal(missing.metadata.sampleAvailable, false);
+  assert.deepEqual(new Set(missing.states), new Set([0]));
+  assert.equal([...missing.zBoundsM].every((value) => Number.isNaN(value)), true);
+
+  await playback.prepare(100);
+  assert.equal(playback.residentChunkIndexes.length <= 3, true);
+  assert.equal(playback.residentChunkIndexes.includes(3), true);
+  assert.equal(playback.residentChunkIndexes.includes(4), true);
+  const selected = await playback.frame(100);
+  assert.deepEqual([...selected.states], [1, 1, 1, 1]);
+  const maximumResidentBytes = manifest.playback.centers.byte_length
+    + manifest.playback.frames.byte_length
+    + 3 * Math.max(...manifest.playback.chunks.map((value) => value.byte_length));
+  assert.equal(playback.residentByteLength <= maximumResidentBytes, true);
+
+  await playback.prepare(0);
+  assert.equal(playback.residentChunkIndexes.length <= 3, true);
+  assert.equal(playback.residentChunkIndexes.includes(0), true);
+  assert.equal(playback.residentChunkIndexes.includes(1), true);
+  assert.equal(
+    requested.every((url) => url.startsWith("/api/v1/laboratory/m49/physical-safety-playback")),
+    true,
+  );
+});
+
+test("physical-safety playback rejects a manifest that points at Worker", async () => {
+  const { manifest } = fixture();
+  manifest.playback.centers.url = "http://worker-006/centers";
+  await assert.rejects(
+    M49PhysicalSafetyPlaybackBuffer.open(resultId, {
+      fetcher: async () => Response.json(manifest),
+    }),
+    /sealed local API/,
+  );
+});

apps/control-station/test/m49TgsFullShadow.test.mjs

@@ -0,0 +1,150 @@
+import assert from "node:assert/strict";
+import { readFile } from "node:fs/promises";
+import { after, before, test } from "node:test";
+
+import { createServer } from "vite";
+
+let server;
+let fetchM49TgsFullShadowSpatialChunk;
+let parseM49TgsNpyTrack;
+
+const resultId = `m49-tgs-full-shadow-${"a".repeat(64)}`;
+
+before(async () => {
+  server = await createServer({
+    appType: "custom",
+    logLevel: "silent",
+    server: { middlewareMode: true },
+  });
+  ({ fetchM49TgsFullShadowSpatialChunk, parseM49TgsNpyTrack } = await server.ssrLoadModule(
+    "/src/core/laboratory/m49TgsFullShadow.ts",
+  ));
+});
+
+after(async () => {
+  await server?.close();
+});
+
+test("M4.9T5 chunk keeps every missing-LiDAR cell explicitly UNOBSERVED", async () => {
+  let requestedUrl = "";
+  const centers = Array.from({ length: 2244 }, (_, index) => [index * 0.45, 0]);
+  const unobserved = Array.from({ length: 2244 }, () => 0);
+  const zBounds = Array.from({ length: 2244 }, () => [null, null]);
+  const metrics = {
+    eligible_point_count: 0,
+    ground_point_count: 0,
+    nonground_point_count: 0,
+    rejected_point_count: 0,
+    occupied_cell_count: 0,
+  };
+  const chunk = await fetchM49TgsFullShadowSpatialChunk(resultId, 7, 1, {
+    fetcher: async (url) => {
+      requestedUrl = String(url);
+      return new Response(JSON.stringify({
+        schema_version: "missioncore.m49-tgs-full-shadow-spatial-chunk/v1",
+        result_id: resultId,
+        start: 7,
+        count: 1,
+        coordinate_frame: "map-gravity-local",
+        costmap: {
+          cell_size_m: 0.45,
+          radius_m: 12,
+          centers_xy_m: centers,
+        },
+        frames: [{
+          source_sequence: 7,
+          source_frame_index: 7,
+          session_seconds: 36.119857292,
+          sample_available: false,
+          states: unobserved,
+          z_bounds_m: zBounds,
+          metrics,
+        }],
+      }), { status: 200, headers: { "Content-Type": "application/json" } });
+    },
+  });
+
+  assert.equal(
+    requestedUrl,
+    `/api/v1/laboratory/m49/tgs-full-shadow/${resultId}/spatial/chunk?start=7&count=1`,
+  );
+  assert.equal(chunk.count, 1);
+  assert.equal(chunk.frames[0].sampleAvailable, false);
+  assert.equal(chunk.frames[0].costmap.states.length, 2244);
+  assert.deepEqual(new Set(chunk.frames[0].costmap.states), new Set([0]));
+});
+
+test("M4.9T5 viewer prefers autonomous chunks and keeps a sealed legacy fallback", async () => {
+  const [source, visual, scene, contract] = await Promise.all([
+    readFile(
+      new URL("../src/workspaces/laboratory/M49TgsFullShadowEvidence.tsx", import.meta.url),
+      "utf8",
+    ),
+    readFile(
+      new URL("../src/workspaces/laboratory/M4ReplayThreatVisual.tsx", import.meta.url),
+      "utf8",
+    ),
+    readFile(
+      new URL("../src/components/laboratory/LaboratoryMetricEvidenceScene.tsx", import.meta.url),
+      "utf8",
+    ),
+    readFile(
+      new URL("../src/core/laboratory/m49TgsFullShadow.ts", import.meta.url),
+      "utf8",
+    ),
+  ]);
+  assert.match(source, /fetchM49PhysicalSafetyPlaybackIdForSource/);
+  assert.match(source, /M49PhysicalSafetyPlaybackBuffer\.open/);
+  assert.match(source, /physicalPlayback\.frameIfResident/);
+  assert.match(source, /physicalPlayback\.prepare/);
+  assert.match(source, /fetchM49TgsFullShadowPlaybackPack/);
+  assert.match(source, /playbackProgress/);
+  assert.doesNotMatch(source, /fetchM49TgsFullShadowSpatialChunk/);
+  assert.match(source, /sampleAvailable: frame\.sampleAvailable/);
+  assert.match(source, /packedCellsMapGravityLocal/);
+  assert.match(source, /playbackPack\.states\.subarray/);
+  assert.match(source, /playbackPack\.zBoundsM\.subarray/);
+  assert.doesNotMatch(source, /Array\.from\(\s*playbackPack\.states/);
+  assert.doesNotMatch(source, /centersXyM\.map\(/);
+  assert.match(source, /fetchE47SemanticSlamResult/);
+  assert.match(source, /next\.baseM4ResultId !== result\.source\.linkedVisualResultId/);
+  assert.match(source, /semantic=\{semantic \? \{/);
+  assert.match(
+    visual,
+    /classifiedSpatialFrame\s*&&\s*classifiedSpatialFrame\.sampleAvailable !== false/,
+  );
+  assert.doesNotMatch(visual, /classifiedSpatialFrame\?\.sampleAvailable !== false/);
+  assert.match(visual, /timelineFrame\.availableFrames\.find/);
+  assert.match(visual, /<LaboratoryMetricEvidenceScene/);
+  assert.doesNotMatch(
+    visual,
+    /\{\(!classifiedSpatialLayer \? spatialFrame : displayedClassifiedSpatialFrame\) \? \(/,
+  );
+  assert.match(scene, /useEffect\(\(\) => resetView\(\), \[mode, resetView\]\)/);
+  assert.match(contract, /linked_semantic_result_id/);
+  assert.match(contract, /missioncore\.m49-tgs-full-shadow-playback\/v1/);
+});
+
+function npyFloat32(values, shape) {
+  const shapeText = shape.length === 1 ? `${shape[0]},` : shape.join(", ");
+  const prefixLength = 10;
+  let header = `{'descr': '<f4', 'fortran_order': False, 'shape': (${shapeText}), }`;
+  const padding = (16 - ((prefixLength + header.length + 1) % 16)) % 16;
+  header += " ".repeat(padding) + "\n";
+  const buffer = new ArrayBuffer(prefixLength + header.length + values.length * 4);
+  const bytes = new Uint8Array(buffer);
+  bytes.set([0x93, 0x4e, 0x55, 0x4d, 0x50, 0x59, 1, 0]);
+  new DataView(buffer).setUint16(8, header.length, true);
+  bytes.set(new TextEncoder().encode(header), prefixLength);
+  new Float32Array(buffer, prefixLength + header.length, values.length).set(values);
+  return buffer;
+}
+
+test("M4.9T5 parses sealed NPY tracks without JSON point arrays", () => {
+  const parsed = parseM49TgsNpyTrack(
+    npyFloat32([1.25, -2.5, 3.75, 4.5], [2, 2]),
+    "<f4",
+    [2, 2],
+  );
+  assert.deepEqual([...parsed], [1.25, -2.5, 3.75, 4.5]);
+});

apps/control-station/test/m4ReplayThreat.test.mjs

@@ -1,4 +1,5 @@
 import assert from "node:assert/strict";
+import { createHash } from "node:crypto";
 import { readFile } from "node:fs/promises";
 import { after, before, test } from "node:test";
 
@@ -9,7 +10,10 @@ let fetchM4ThreatReplayResult;
 let fetchM4ThreatVisual;
 let fetchM4ThreatTimeline;
 let fetchM4ThreatTimelineChunk;
+let fetchM4ThreatPlaybackManifest;
+let fetchM4ThreatPlaybackPointChunk;
 let fetchM4ThreatCameraPointOverlay;
+let hydrateM4ThreatTimelineFrame;
 let selectM4ThreatTimelineFrame;
 let selectM4ThreatTimelineSequence;
 let advanceRecordedEvidencePlayback;
@@ -32,7 +36,10 @@ before(async () => {
     fetchM4ThreatVisual,
     fetchM4ThreatTimeline,
     fetchM4ThreatTimelineChunk,
+    fetchM4ThreatPlaybackManifest,
+    fetchM4ThreatPlaybackPointChunk,
     fetchM4ThreatCameraPointOverlay,
+    hydrateM4ThreatTimelineFrame,
     selectM4ThreatTimelineFrame,
     selectM4ThreatTimelineSequence,
   } = await server.ssrLoadModule("/src/core/laboratory/m4ReplayThreat.ts"));
@@ -332,6 +339,115 @@ test("M4.6 timeline keeps only a compact index and decodes bounded spatial chunk
   assert.equal(selectM4ThreatTimelineFrame(chunk.frames, 35.50).sequence, 1);
 });
 
+test("M4.6 hydrates a lightweight timeline frame from one retained binary point track", async () => {
+  const raw = timelineFrame(0, 35.421857292, {
+    body_frame: {
+      origin_map_xyz_m: [10, 20, 30],
+      basis_map_from_body: [[1, 0, 0], [0, 1, 0], [0, 0, 1]],
+    },
+    point_cloud_body_xyz_m: [],
+    point_cloud_source_count: 2,
+    point_cloud_sample_count: 2,
+  });
+  const parsed = await fetchM4ThreatTimelineChunk(resultId, 0, 1, {
+    playbackPointPack: {
+      resultId,
+      frameCount: 4489,
+      pointCount: 2,
+      pointOffsets: new Uint32Array([0, 2, ...Array(4488).fill(2)]),
+      pointsMapXyzM: new Float32Array([11, 20, 30.25, 12, 19.5, 30]),
+    },
+    fetcher: async (input) => {
+      assert.match(String(input), /include_points=false/);
+      return new Response(JSON.stringify({
+        schema_version: "missioncore.recorded-spatial-evidence-chunk/v1",
+        result_id: resultId,
+        start_sequence: 0,
+        frame_count: 1,
+        next_sequence: 1,
+        frames: [raw],
+        authority: "replay-simulated",
+      }), { status: 200 });
+    },
+  });
+  assert.deepEqual(parsed.frames[0].pointCloudBodyXyzM, [
+    [1, 0, 0.25],
+    [2, -0.5, 0],
+  ]);
+  assert.equal(parsed.frames[0].pointCloudSampleCount, 2);
+  assert.equal(typeof hydrateM4ThreatTimelineFrame, "function");
+});
+
+test("M4.6 source cloud opens from one verified bounded chunk instead of the 105 MiB track", async () => {
+  const pointOffsets = [0, ...Array(4489).fill(2)];
+  const points = new Float32Array([11, 20, 30.25, 12, 19.5, 30]);
+  const pointBytes = points.buffer;
+  const pointSha256 = createHash("sha256").update(Buffer.from(pointBytes)).digest("hex");
+  const endpointRoot = "/api/v1/laboratory/m4-threat/results";
+  const chunks = Array.from({ length: 188 }, (_, index) => {
+    const start = index * 24;
+    const count = Math.min(24, 4489 - start);
+    const pointStart = pointOffsets[start];
+    const pointStop = pointOffsets[start + count];
+    const pointCount = pointStop - pointStart;
+    return {
+      index,
+      start,
+      count,
+      point_start: pointStart,
+      point_count: pointCount,
+      url: `${endpointRoot}/${resultId}/timeline/playback/chunks/${index}`,
+      media_type: "application/octet-stream",
+      dtype: "<f4",
+      shape: [pointCount, 3],
+      bytes: pointCount * 3 * 4,
+      sha256: index === 0 ? pointSha256 : "0".repeat(64),
+    };
+  });
+  const manifestPayload = {
+    schema_version: "missioncore.recorded-spatial-playback/v1",
+    result_id: resultId,
+    frame_count: 4489,
+    point_count: 2,
+    point_offsets: pointOffsets,
+    chunk_frame_count: 24,
+    resident_chunk_count_max: 4,
+    forward_prefetch_chunk_count: 1,
+    chunks,
+    track: {
+      id: "points-map-f32",
+      url: `${endpointRoot}/${resultId}/timeline/playback/tracks/points-map-f32`,
+      media_type: "application/octet-stream",
+      dtype: "<f4",
+      shape: [2, 3],
+      bytes: pointBytes.byteLength,
+      sha256: pointSha256,
+    },
+    coordinate_frame: "map",
+    access: "read-only-sealed-binary-playback",
+  };
+  const requested = [];
+  const fetcher = async (input) => {
+    const url = String(input);
+    requested.push(url);
+    if (url.endsWith("/timeline/playback")) return Response.json(manifestPayload);
+    if (url.endsWith("/timeline/playback/chunks/0")) return new Response(pointBytes.slice(0));
+    return new Response(null, { status: 404 });
+  };
+  const manifest = await fetchM4ThreatPlaybackManifest(resultId, { fetcher });
+  const chunk = await fetchM4ThreatPlaybackPointChunk(manifest, 0, { fetcher });
+
+  assert.deepEqual(requested, [
+    `${endpointRoot}/${resultId}/timeline/playback`,
+    `${endpointRoot}/${resultId}/timeline/playback/chunks/0`,
+  ]);
+  assert.equal(chunk.pointCount, 2);
+  assert.equal(chunk.pointStart, 0);
+  assert.equal(chunk.sequenceCount, 24);
+  assert.equal(chunk.pointsMapXyzM.byteLength, 24);
+  assert.equal(requested.some((url) => url.endsWith("points-map-f32")), false);
+});
+
 test("M4.8S timeline binds factory-KB4 camera points through its exact endpoint", async () => {
   const replayResultId = `m48s-fixed-class-detector-lab-${"b".repeat(64)}`;
   const endpointRoot = "/api/v1/laboratory/m48s/fixed-class-detector";
@@ -784,10 +900,15 @@ test("M4.6 viewer keeps media and spatial panes on one playback clock", async ()
   assert.match(visualCss, /width: 33\.333333%/);
   assert.match(visualCss, /flex-flow: column nowrap/);
   assert.match(visualCss, /m4-replay-threat-visual__overlay > div/);
-  assert.match(visualCss, /grid-template-columns: minmax\(0, max-content\)/);
-  assert.match(visualCss, /width: max-content/);
+  assert.match(visualCss, /grid-template-columns: minmax\(0, 1fr\)/);
+  assert.match(visualCss, /width: min\(17\.5rem/);
+  assert.match(visualCss, /grid-auto-rows: 3\.8rem/);
   assert.match(visualCss, /--m4-replay-threat-overlay-pane-width/);
   assert.match(visualCss, /white-space: nowrap/);
+  assert.match(visualCss, /-webkit-line-clamp: 2/);
+  assert.match(visual, /classifiedCellCount/);
+  assert.match(visual, /lastAvailableClassifiedSpatialFrame/);
+  assert.match(visual, /current UNOBSERVED/);
   assert.match(visualCss, /laboratory-metric-evidence-scene__legend/);
   assert.match(visualCss, /bottom: auto/);
   assert.match(videoScene, /<RecordedFmp4Player/);
@@ -799,7 +920,29 @@ test("M4.6 viewer keeps media and spatial panes on one playback clock", async ()
   assert.match(metricScene, /OrbitControls/);
   assert.match(visual, /LOCAL SLAM/);
   assert.match(visual, /showLocalSurface/);
-  assert.match(visual, /pointCloudBodyXyzM=\{spatialFrame\.pointCloudBodyXyzM\}/);
+  assert.match(
+    visual,
+    /pointCloudBodyXyzM=\{displayedClassifiedSpatialFrame && replaceClassifiedPointCloud[\s\S]*\? classifiedPointsBody[\s\S]*: classifiedContextSpatialFrame\?\.pointCloudBodyXyzM \?\? \[\]\}/,
+  );
+  assert.match(
+    visual,
+    /const classifiedSpatialFrame = classifiedSpatialLayer\?\.frame\?\.sourceSequence === timelineFrame\.activeSequence[\s\S]*lastClassifiedSpatialFrameRef[\s\S]*const displayedClassifiedSpatialFrame = classifiedSpatialFrame\s*&&\s*classifiedSpatialFrame\.sampleAvailable !== false/,
+  );
+  assert.doesNotMatch(visual, /classifiedSpatialFrame\?\.sampleAvailable !== false/);
+  assert.match(visual, /timelineFrame\.availableFrames\.find/);
+  assert.match(visual, /localSurfaceBodyXyzM=\{localSurface\.pointsBodyXyzM\}/);
+  assert.match(visual, /showLocalSurface=\{showLocalSurface\}/);
+  assert.match(visual, /\{semantic \? \([\s\S]*>\s*SEMANTICS\s*<\/Button>/);
+  assert.match(visual, /current safety — все \{classifiedCellCount\.toLocaleString\("ru-RU"\)\} TGS-ячейки UNOBSERVED/);
+  assert.match(
+    visual,
+    /mapGravityLocalSensorToBodyGround[\s\S]*rotated\[2\] \+ nominalSensorHeightM/,
+  );
+  assert.match(
+    visual,
+    /zBoundsM: \[[\s\S]*minimumSensorRelativeZ \+ nominalSensorHeightM[\s\S]*maximumSensorRelativeZ \+ nominalSensorHeightM/,
+  );
+  assert.match(visual, /classifiedCells=\{classifiedCellsBody\}/);
   assert.match(metricScene, /Локальная SLAM-поверхность/);
   assert.match(visual, /showJumpToEnd=\{false\}/);
   assert.doesNotMatch(visual, /Назад на 5 секунд/);

apps/control-station/test/recordedCameraBuffering.test.mjs

@@ -173,6 +173,9 @@ test("recorded player keeps full-archive range fallback and uses bounded generat
   assert.match(source, /pumpRecordedSegmentWindow/);
   assert.match(source, /waitForRecordedVideoTarget/);
   assert.match(source, /removeRecordedMediaRange/);
+  assert.match(source, /hasPresentedFrame/);
+  assert.match(source, /retainForwardFrame/);
+  assert.match(source, /candidateTarget\.sequence >= previousTarget\.sequence/);
 
   assert.equal(recordedMediaDecodeStartSequence([1, 1491, 1501], 1500), 1491);
   assert.deepEqual(

apps/control-station/test/semanticEvidencePrimitives.test.mjs

@@ -28,6 +28,8 @@ test("semantic evidence mask is GPU-colored, bounded, cancelled and object-conta
   assert.match(source, /Math\.min\(width \/ mask\.width, height \/ mask\.height\)/);
   assert.match(source, /decoded\.key !== expectedKey/);
   assert.match(source, /mask\?\.key === expectedKey/);
+  assert.match(source, /lastReadyMaskRef/);
+  assert.match(source, /data-state=\{failure \? "error" : exactMask \? "ready" : renderMask \? "stale" : "loading"\}/);
   assert.match(source, /recorded-evidence-semantic-mask-overlay__error/);
   assert.match(source, /role="alert"/);
 });
@@ -53,6 +55,12 @@ test("metric evidence keeps missing semantic assignments as context and exposes
   assert.match(source, /classId === null \? undefined : colorsByClassId\.get\(classId\)/);
   assert.match(source, /data-decision="semantic"/);
   assert.match(source, /recordedEvidenceSemanticCssColor/);
+  assert.match(source, /DynamicDrawUsage/);
+  assert.match(source, /classifiedMeshesRef/);
+  assert.match(source, /classifiedPackedCells/);
+  assert.match(source, /updatePointPositions/);
+  assert.match(source, /renderer\.info\.render\.calls/);
+  assert.match(source, /data-decision="performance"/);
 });
 
 test("semantic point alignment follows the last qualified spatial increment", async () => {

apps/control-station/test/simulationWorkspace.test.mjs

@@ -9,37 +9,61 @@ async function read(relativePath) {
 }
 
 test("simulation is a dedicated Polygon workspace with a bounded feature slice", async () => {
-  const [productModel, workspaceHub, workspace, styles] = await Promise.all([
+  const [productModel, workspaceHub, workspace, catalog, styles] = await Promise.all([
     read("productModel.ts"),
     read("workspaces/Workspaces.tsx"),
     read("workspaces/simulation/SimulationWorkspace.tsx"),
+    read("components/simulation/SimulationCatalog.tsx"),
     read("styles.css"),
   ]);
 
   assert.match(productModel, /id: "simulations"[\s\S]*root: "polygon"[\s\S]*kind: "simulations"/);
   assert.match(workspaceHub, /case "simulations":[\s\S]*<SimulationWorkspace \/>/);
-  assert.match(workspace, /simulation-catalog__table/);
+  assert.match(catalog, /simulation-catalog__table/);
+  assert.match(workspace, /archivesFromDrop/);
+  assert.match(workspace, /uploadSimulationProjectSource/);
+  assert.match(catalog, /colSpan=\{3\}/);
+  assert.match(catalog, /Ожидает обработки/);
+  assert.match(catalog, /Прогресс \$\{roundedPercent\}% \|/);
+  assert.match(catalog, /Осталось примерно \$\{minutes\} мин/);
+  assert.match(catalog, /simulation-catalog__progress-track/);
+  assert.doesNotMatch(catalog, /disabled=\{ACTIVE_STATUSES\.has/);
   assert.match(workspace, /<SimulationViewport[\s\S]*project=\{selected\}/);
   assert.match(workspace, /<ConfirmationModal/);
+  assert.match(workspace, /if \(state === "building_streamed_sog"\) return "Сборка LOD"/);
+  assert.doesNotMatch(workspace, /\{selected\.provider\.state \?\? selected\.status\}/);
   assert.match(styles, /styles\/simulation\.css/);
 });
 
 test("browser upload remains same-origin, resumable and token-free", async () => {
-  const [core, window] = await Promise.all([
+  const [core, window, sourceFiles] = await Promise.all([
     read("core/simulation/projects.ts"),
     read("components/simulation/SimulationProjectWindow.tsx"),
+    read("core/simulation/sourceFiles.ts"),
   ]);
 
   assert.match(core, /const API_ROOT = "\/api\/v1\/simulation-worlds\/projects"/);
   assert.match(core, /method: "HEAD"/);
   assert.match(core, /method: "PATCH"/);
   assert.match(core, /"Upload-Offset"/);
+  assert.match(core, /estimatedSecondsRemaining/);
+  assert.match(core, /smoothedBytesPerSecond \* 0\.7 \+ currentBytesPerSecond \* 0\.3/);
+  assert.match(core, /estimateSimulationProcessing/);
+  assert.match(core, /jobCreatedAtUtc/);
+  assert.match(core, /stateStartedAtUtc/);
+  assert.match(core, /REFERENCE_STREAM_SECONDS = 2_317/);
   assert.doesNotMatch(core, /Authorization|Bearer|18090|Worker 006/);
   assert.match(window, /accept="\.zip,\.rar,\.7z"/);
   assert.match(window, /webkitdirectory/);
-  assert.match(window, /webkitGetAsEntry/);
-  assert.match(window, /ровно одна сцена \.lcc или \.lcc2/);
+  assert.match(sourceFiles, /webkitGetAsEntry/);
+  assert.match(sourceFiles, /entry\?\.isDirectory/);
+  assert.match(sourceFiles, /const file = item\.getAsFile\(\)/);
+  assert.match(sourceFiles, /MAX_SIMULATION_SOURCE_BYTES = 16 \* 1024 \*\* 3/);
+  assert.match(sourceFiles, /item\.kind === "file"/);
+  assert.match(sourceFiles, /ровно одна сцена \.lcc или \.lcc2/);
+  assert.match(sourceFiles, /отдельные архивы ZIP, RAR или 7z/);
   assert.doesNotMatch(window, /Загружаем источник/);
+  assert.match(window, /считаем время/);
 });
 
 test("failed simulation can restart from its retained Mission Core source", async () => {
@@ -54,9 +78,13 @@ test("failed simulation can restart from its retained Mission Core source", asyn
 });
 
 test("PlayCanvas owns the realtime scene graph without an iframe or React entity tree", async () => {
-  const [runtime, viewport, packageDocument] = await Promise.all([
+  const [runtime, ugv, viewport, ugvSettings, projects, styles, packageDocument] = await Promise.all([
     read("components/simulation/PlayCanvasRuntime.ts"),
+    read("components/simulation/SimulationUgvController.ts"),
     read("components/simulation/SimulationViewport.tsx"),
+    read("components/simulation/SimulationUgvSettingsPanel.tsx"),
+    read("core/simulation/projects.ts"),
+    read("styles/simulation.css"),
     readFile(new URL("../package.json", import.meta.url), "utf8"),
   ]);
 
@@ -72,41 +100,118 @@ test("PlayCanvas owns the realtime scene graph without an iframe or React entity
   assert.match(runtime, /maximum: \{[^}]*lodRangeMin: 0, lodRangeMax: 5, pixelRatio: 2, splatBudget: 4_000_000, targetFps: 60/);
   assert.match(runtime, /app\.scene\.gsplat\.splatBudget = profile\.splatBudget/);
   assert.match(runtime, /app\.autoRender = false/);
+  assert.match(runtime, /app\.on\("update", this\.updateFrame\)/);
+  assert.match(runtime, /if \(!cameraChanged && this\.controlMode === "free"\) return/);
+  assert.doesNotMatch(runtime, /app\.on\("frameupdate"/);
   assert.match(runtime, /WEBGL_lose_context/);
   assert.match(runtime, /selected\.horizontal[^\n]+frame\.mouse\[0\] \*= -1/);
   assert.match(runtime, /selected\.vertical[^\n]+frame\.mouse\[1\] \*= -1/);
   assert.match(runtime, /setCameraInversion/);
-  assert.match(runtime, /async setViewMode\([\s\S]*this\.resetCameraInteraction\(\);[\s\S]*this\.viewMode = mode/);
-  assert.match(runtime, /input\._pointerId = -1/);
+  assert.match(runtime, /async setViewMode\([\s\S]*this\.viewMode = mode/);
+  assert.doesNotMatch(runtime.match(/async setViewMode\([\s\S]*?\n  }/)?.[0] ?? "", /resetCameraInteraction/);
+  assert.match(runtime, /controller\.fire\("state"\)/);
   assert.match(runtime, /state\.mouse\.fill\(0\)/);
   assert.match(runtime, /new Asset\([\s\S]*"container"/);
-  assert.match(runtime, /instantiateRenderEntity/);
+  assert.match(runtime, /instantiateModelEntity/);
   assert.match(runtime, /applyWorldTransform/);
   assert.match(runtime, /setLayerWorldTransform/);
-  assert.match(runtime, /PLAYCANVAS_X_180_TRANSFORM/);
-  assert.match(runtime, /PLAYCANVAS_Y_180_TRANSFORM/);
-  assert.match(runtime, /PLAYCANVAS_Z_180_TRANSFORM/);
+  assert.match(runtime, /playCanvasEulerTransform/);
+  assert.match(runtime, /setFromEulerAngles/);
   assert.match(runtime, /DracoDecoderModule/);
   assert.match(runtime, /draco_decoder_gltf\.wasm/);
   assert.match(runtime, /ensureCollision/);
+  assert.match(runtime, /setControlMode/);
+  assert.match(runtime, /setUgvPreset/);
+  assert.match(runtime, /SimulationUgvController/);
+  assert.match(runtime, /for \(const model of this\.collisionVisuals\) model\.enabled = visible/);
+  assert.match(runtime, /instantiateModelEntity/);
+  assert.match(runtime, /this\.ugvController\?\.disable\(\)/);
+  assert.match(runtime, /this\.collisionMaterial\.blendType = combined \? BLEND_NORMAL : BLEND_NONE/);
+  assert.match(runtime, /private requestRender\(\): void/);
   assert.match(runtime, /app\.root\.addChild/);
   assert.match(runtime, /dispose\(\)/);
   assert.doesNotMatch(`${runtime}\n${viewport}`, /iframe|<GSplat/);
-  assert.match(viewport, /Collision недоступен/);
-  assert.match(viewport, /Для этой сборки collision GLB не был запрошен/);
+  assert.match(viewport, /Коллизии недоступны/);
+  assert.match(viewport, /Для этой сборки слой коллизий не создавался/);
   assert.match(viewport, /<Select[\s\S]*Качество Gaussian-сцены/);
+  assert.match(viewport, /label="Режим управления"/);
+  assert.match(viewport, /label: "Свободно"/);
+  assert.match(viewport, /label: "UGV"/);
+  assert.match(viewport, /WASD\/стрелки · пробел — тормоз · R — домой/);
+  assert.match(viewport, /data-control-mode=\{controlMode\}/);
   assert.match(viewport, /useState<SimulationQuality>\(project\.viewerSettings\.quality\)/);
   assert.match(viewport, /runtimeRef\.current\?\.home\(\)/);
   assert.match(viewport, /Настройки сцены/);
-  assert.match(viewport, /Инверсия визуального слоя/);
-  assert.match(viewport, /Инверсия collision-слоя/);
+  assert.match(viewport, /Гауссовый слой/);
+  assert.match(viewport, /Слой коллизий/);
   assert.match(viewport, /Инверсия управления по горизонтали/);
   assert.match(viewport, /Инверсия управления по вертикали/);
-  assert.match(viewport, /Ось инверсии визуального слоя/);
-  assert.match(viewport, /Ось инверсии collision-слоя/);
+  assert.match(viewport, /ROTATION_AXES/);
+  assert.match(viewport, /<GlassMaterialSurface/);
+  assert.match(viewport, /<TextField/);
+  assert.match(viewport, /nextDraft\.trim\(\) !== ""/);
   assert.match(viewport, /saveSimulationViewerSettings/);
+  assert.match(viewport, /SimulationUgvSettingsPanel/);
+  assert.match(viewport, /runtime\.setUgvPreset\(settings\.ugv\)/);
   assert.match(viewport, /onProjectChange\?\.\(saved\)/);
   assert.match(viewport, /const worldManifestRevision = JSON\.stringify\(project\.worldManifest\)/);
   assert.match(viewport, /\[project\.projectId, worldManifestRevision\]/);
   assert.doesNotMatch(viewport, /\[project\.projectId, project\.worldManifest\]/);
+  assert.doesNotMatch(viewport, />PlayCanvas|PlayCanvas загружает|Streamed SOG/);
+  assert.match(ugv, /AMMO_MODULE_ROOT = "\/vendor\/playcanvas\/ammo\/2026-08-25"/);
+  assert.match(ugv, /new this\.ammo\.btRaycastVehicle/);
+  assert.match(ugv, /type: "mesh"/);
+  assert.match(ugv, /MeshoptSimplifier\.simplify/);
+  assert.match(ugv, /PHYSICS_PROXY_MAX_TRIANGLES = 240_000/);
+  assert.match(ugv, /createPhysicsProxyMesh/);
+  assert.match(ugv, /findSafeSpawnPosition/);
+  assert.match(ugv, /physics\.raycastFirst/);
+  assert.match(ugv, /runCleanup\("destroy static physics mesh", \(\) => mesh\.destroy\(\)\)/);
+  assert.match(ugv, /type: "static"/);
+  assert.match(ugv, /mass: this\.settings\.massKg/);
+  assert.match(ugv, /suspensionRestLength/);
+  assert.match(ugv, /requestedTurn = Number\(this\.isPressed\("KeyA", "ArrowLeft"\)\) - Number\(this\.isPressed\("KeyD", "ArrowRight"\)\)/);
+  assert.match(ugv, /leftCommand = clamp\(forwardCommand - turnCommand/);
+  assert.match(ugv, /rightCommand = clamp\(forwardCommand \+ turnCommand/);
+  assert.match(ugv, /this\.settings\.invertSteering/);
+  assert.match(ugv, /this\.settings\.maxSpeedMetersPerSecond/);
+  assert.match(ugv, /this\.settings\.maxTurnRateDegrees/);
+  assert.match(ugv, /desiredSpeed = forwardInput \* maxSpeed/);
+  assert.match(ugv, /maximumAcceleration = clamp\(1\.4 \+ maxSpeed \* 0\.35, 1\.8, 4\.2\)/);
+  assert.match(ugv, /SERVICE_BRAKE_DECELERATION_MPS2 = 1\.8/);
+  assert.match(ugv, /horizontalSpeed - deceleration \* Math\.max\(0, deltaSeconds\)/);
+  assert.match(ugv, /this\.vehicle\.setBrake\(0, index\)/);
+  assert.doesNotMatch(ugv, /massKg \* 3/);
+  assert.match(ugv, /pureTurn = !braking && forwardInput === 0 && turnInput !== 0/);
+  assert.match(ugv, /desiredYawRate = -turnInput \* maxTurnRate/);
+  assert.match(ugv, /this\.orbitYaw = \(this\.orbitYaw - deltaX \* 0\.006\)/);
+  assert.match(ugv, /CAMERA_RETURN_DELAY_SECONDS = 1\.2/);
+  assert.match(ugv, /CAMERA_RETURN_DURATION_SECONDS = 2/);
+  assert.match(ugv, /approachAngle\(this\.orbitYaw, rearOrbitYaw/);
+  assert.match(ugv, /this\.canvas\.addEventListener\("pointerdown", this\.onOrbitPointerDown\)/);
+  assert.match(ugv, /this\.canvas\.addEventListener\("wheel", this\.onOrbitWheel/);
+  assert.match(ugv, /vehicleGeometryChanged/);
+  assert.match(ugv, /removeAction\(this\.vehicle as NativeObject\)/);
+  assert.match(ugv, /runCleanup\("destroy static physics proxy", \(\) => entity\.destroy\(\)\)/);
+  assert.match(ugv, /runCleanup\("destroy vehicle entity"/);
+  assert.match(ugvSettings, /Физика UGV/);
+  assert.match(ugvSettings, /Дифференциальный привод/);
+  assert.match(ugvSettings, /Масса конструкции/);
+  assert.match(ugvSettings, /Общая высота/);
+  assert.match(ugvSettings, /Клиренс/);
+  assert.match(ugvSettings, /Скорость движения/);
+  assert.match(ugvSettings, /Скорость разворота/);
+  assert.match(ugvSettings, /exactValueBounds=\{SIMULATION_UGV_EXACT_VALUE_LIMITS\.maxSpeedMetersPerSecond\}/);
+  assert.match(projects, /maxSpeedMetersPerSecond: \{ min: 0, max: 1_000_000_000 \}/);
+  assert.match(ugvSettings, /Инверсия управления A\/D/);
+  assert.match(ugvSettings, /Сохранить пресет/);
+  assert.match(ugvSettings, /<RangeControl/);
+  assert.match(ugvSettings, /<Switch/);
+  assert.match(ugvSettings, /<TextField/);
+  assert.match(projects, /missioncore\.simulation-viewer-settings\/v3/);
+  assert.match(projects, /ugv: SimulationUgvPreset/);
+  assert.match(styles, /\.simulation-viewport__settings \{[\s\S]*grid-template-rows: auto minmax\(0, 1fr\);[\s\S]*overflow: clip;/);
+  assert.match(styles, /\.simulation-viewport__settings-scroll \{[\s\S]*overflow-y: auto;/);
+  assert.match(styles, /\.simulation-viewport__toolbar \{[\s\S]*position: sticky;[\s\S]*top: 0;/);
+  assert.match(styles, /canvas\.is-orbiting[\s\S]*cursor: grabbing/);
 });

apps/control-station/test/vegetationShadow.test.mjs

@@ -0,0 +1,182 @@
+import assert from "node:assert/strict";
+import { access, readFile } from "node:fs/promises";
+import { after, before, test } from "node:test";
+
+import { createServer } from "vite";
+
+let server;
+let fetchVegetationShadowResult;
+
+before(async () => {
+  server = await createServer({
+    appType: "custom",
+    logLevel: "silent",
+    server: { middlewareMode: true },
+  });
+  ({ fetchVegetationShadowResult } = await server.ssrLoadModule(
+    "/src/core/laboratory/vegetationShadow.ts",
+  ));
+});
+
+after(async () => {
+  await server?.close();
+});
+
+const resultId = `lab-v1-vegetation-shadow-${"a".repeat(64)}`;
+
+function candidate(candidateKey, vegetationIou) {
+  return {
+    loaded_model_name: candidateKey === "ddrnet" ? "ddrnet_39" : "pp_lite_t_seg",
+    checkpoint_sha256: (candidateKey === "ddrnet" ? "b" : "c").repeat(64),
+    validation_metrics: {
+      mean_iou_percent: 44.2,
+      published_mean_iou_percent: 46.53,
+      vegetation_mean_iou: vegetationIou,
+    },
+    validation_timing: {
+      latency_ms_p95: 22.4,
+      throughput_fps_from_mean_inference: 48.1,
+    },
+    shadow_timing: {
+      prewarm_latency_ms: 612.4,
+      latency_ms_p95: 21.8,
+      throughput_fps_from_mean_inference: 49.2,
+    },
+    resource: {
+      peak_reserved_vram_bytes: 2_000_000_000,
+      gpu_name: "NVIDIA GeForce RTX 4090",
+    },
+  };
+}
+
+function visualCase(sourceKind, index) {
+  const caseId = `case-${index}`;
+  const keys = sourceKind === "goose"
+    ? ["source", "truth", "ddrnet", "ppliteseg", "ddrnet_error", "ppliteseg_error"]
+    : ["source", "ddrnet", "ppliteseg", "urban", "rural", "offroad"];
+  return {
+    case_id: caseId,
+    source_kind: sourceKind,
+    width: sourceKind === "goose" ? 512 : 800,
+    height: sourceKind === "goose" ? 512 : 600,
+    center_crop_xyxy: sourceKind === "goose" ? [0, 0, 512, 512] : [100, 0, 700, 600],
+    outside_crop_state: sourceKind === "goose" ? "not-applicable" : "undefined",
+    focus: sourceKind === "goose" ? {
+      class_name: "high_grass",
+      label_id: 51,
+      truth_pixels: 16384,
+      truth_fraction: 0.0625,
+      stratum_rank: index + 1,
+    } : null,
+    assets: Object.fromEntries(keys.map((key) => [key, {
+      path: `visual/${sourceKind}/${caseId}/${key}.png`,
+      sha256: "d".repeat(64),
+    }])),
+  };
+}
+
+function routeVideo() {
+  return {
+    worker_result_id: `lab-v1-ravnoves-video-ddrnet-${"e".repeat(64)}`,
+    m47_reference_graph_result_id: `m47-reference-graph-lab-${"f".repeat(64)}`,
+    base_m4_result_id: `m4-threat-replay-${"1".repeat(64)}`,
+    frame_count: 4489,
+    width: 800,
+    height: 600,
+    center_crop_xyxy: [100, 0, 700, 600],
+    outside_crop_state: "undefined",
+    sequence_binding: "sequence-0-to-masks/frame-000001.png",
+    taxonomy: {
+      schema_version: "missioncore.lab-v1-vegetation-taxonomy/v1",
+      classes: Array.from({ length: 64 }, (_, classId) => ({
+        class_id: classId,
+        label: classId === 0 ? "undefined" : `class-${classId}`,
+        color_rgb: [classId, classId, classId],
+        disposition: classId === 0 ? "undefined" : "prediction",
+      })),
+    },
+    aggregate_prediction_pixels: Array(64).fill(0),
+    mask_archive: {
+      path: "video/ddrnet-semantic-masks.zip",
+      sha256: "9".repeat(64),
+      byte_length: 1024,
+    },
+  };
+}
+
+test("vegetation LAB keeps autonomous assets and fail-closed authority", async () => {
+  let requestedUrl = "";
+  const result = await fetchVegetationShadowResult(resultId, {
+    fetcher: async (url) => {
+      requestedUrl = String(url);
+      return new Response(JSON.stringify({
+        schema_version: "missioncore.lab-v1-vegetation-shadow/v1",
+        result_id: resultId,
+        created_at_utc: "2026-08-27T20:00:00Z",
+        status: "visual-shadow-ready-policy-not-authorized",
+        ground_truth: false,
+        identity: { selected_candidate: "ddrnet" },
+        metrics: {
+          candidates: {
+            ddrnet: candidate("ddrnet", 0.64),
+            ppliteseg: candidate("ppliteseg", 0.61),
+          },
+        },
+        decision: {
+          selected_candidate: "ddrnet",
+          visual_shadow_ready: true,
+          mission_policy_ready_for_configuration: true,
+          navigation_accepted: false,
+          production_accepted: false,
+        },
+        limitations: ["shadow only"],
+        authority: {
+          commands_enabled: false,
+          navigation_or_safety_accepted: false,
+          actuation_accepted: false,
+          camera_semantics_can_clear_rigid_geometry: false,
+        },
+        catalogs: {
+          goose: Array.from({ length: 12 }, (_, index) => visualCase("goose", index)),
+          ravnoves: [],
+        },
+        route_video: routeVideo(),
+        access: "read-only",
+      }), { status: 200, headers: { "Content-Type": "application/json" } });
+    },
+  });
+  assert.equal(
+    requestedUrl,
+    `/api/v1/laboratory/vegetation-shadow/${resultId}`,
+  );
+  assert.equal(result.selectedCandidate, "ddrnet");
+  assert.equal(result.candidates[0].vegetationMeanIouPercent, 64);
+  assert.equal(result.routeCases.length, 0);
+  assert.equal(result.validationCases.length, 12);
+  assert.equal(result.routeVideo.frameCount, 4489);
+  assert.equal(result.routeVideo.taxonomy[0].disposition, "undefined");
+  assert.equal(result.validationCases[0].focus.className, "high_grass");
+  assert.match(result.validationCases[0].assets.ddrnet_error, /\/assets\/visual\/goose\//);
+  assert.deepEqual(result.authority, {
+    commandsEnabled: false,
+    navigationOrSafetyAccepted: false,
+    actuationAccepted: false,
+    cameraSemanticsCanClearRigidGeometry: false,
+  });
+});
+
+test("vegetation LAB reuses the admitted M4.8 and M4.7 instruments", async () => {
+  const resultSource = await readFile(
+    new URL("../src/workspaces/laboratory/VegetationShadowResult.tsx", import.meta.url),
+    "utf8",
+  );
+  assert.match(resultSource, /M48MaskComparisonVisual/);
+  assert.match(resultSource, /M4ReplayThreatVisual/);
+  assert.equal(resultSource.match(/<LaboratoryEvidence\b/g)?.length, 2);
+  assert.match(resultSource, /showReferenceMediaLayers=\{false\}/);
+  assert.doesNotMatch(resultSource, /VegetationRouteVisual|urban\/rural\/off-road presets/);
+  await assert.rejects(
+    access(new URL("../src/workspaces/laboratory/VegetationShadowVisual.tsx", import.meta.url)),
+    { code: "ENOENT" },
+  );
+});

config/laboratories/lab-v1-vegetation-shadow.json

@@ -0,0 +1,10 @@
+{
+  "schema_version": "missioncore.laboratory-evidence-definition/v1",
+  "work_id": "lab-v1-vegetation-shadow",
+  "evidence": {
+    "runtime_relative_root": "lab-v1-vegetation/results",
+    "result_id_prefix": "lab-v1-vegetation-shadow",
+    "document_name": "result.json",
+    "schema_version": "missioncore.lab-v1-vegetation-shadow/v1"
+  }
+}

config/laboratories/m49-tgs-fail-closed-evidence.json

@@ -0,0 +1,10 @@
+{
+  "schema_version": "missioncore.laboratory-evidence-definition/v1",
+  "work_id": "m49-tgs-fail-closed-evidence",
+  "evidence": {
+    "runtime_relative_root": "m49/tgs-fail-closed-results",
+    "result_id_prefix": "m49-tgs-fail-closed",
+    "document_name": "manifest.json",
+    "schema_version": "missioncore.m49-tgs-fail-closed-result/v1"
+  }
+}

config/laboratories/m49-tgs-full-shadow.json

@@ -0,0 +1,10 @@
+{
+  "schema_version": "missioncore.laboratory-evidence-definition/v1",
+  "work_id": "m49-tgs-full-shadow",
+  "evidence": {
+    "runtime_relative_root": "m49/tgs-full-shadow-results",
+    "result_id_prefix": "m49-tgs-full-shadow",
+    "document_name": "manifest.json",
+    "schema_version": "missioncore.m49-tgs-full-shadow-lab/v1"
+  }
+}

config/laboratory-execution.json

@@ -162,6 +162,53 @@
         "run": "missioncore.laboratory-run/v1",
         "evidence": "missioncore.m48t-risk-quality-temporal-lab/v1"
       }
+    },
+    {
+      "work_id": "m49-tgs-fail-closed-evidence",
+      "lifecycle": "experimental",
+      "isolation": "bounded-adapter",
+      "adapter_id": "experimental.m49-tgs-fail-closed-evidence/v1",
+      "input_roles": ["repository_root"],
+      "contracts": {
+        "source": "missioncore.m49-tgs-worker-evidence/v1",
+        "provider": "missioncore.travel-tgs-ground-segmentation/v1",
+        "graph": "missioncore.m49-fail-closed-costmap-evidence/v1",
+        "run": "missioncore.laboratory-run/v1",
+        "evidence": "missioncore.m49-tgs-fail-closed-result/v1"
+      }
+    },
+    {
+      "work_id": "m49-tgs-full-shadow",
+      "lifecycle": "experimental",
+      "isolation": "bounded-adapter",
+      "adapter_id": "experimental.m49-tgs-full-shadow/v1",
+      "input_roles": ["repository_root"],
+      "contracts": {
+        "source": "missioncore.m49-tgs-full-shadow-result/v1",
+        "provider": "missioncore.travel-tgs-ground-segmentation/v1",
+        "graph": "missioncore.m49-tgs-full-source-paced-shadow/v1",
+        "run": "missioncore.laboratory-run/v1",
+        "evidence": "missioncore.m49-tgs-full-shadow-lab/v1"
+      }
+    },
+    {
+      "work_id": "lab-v1-vegetation-shadow",
+      "lifecycle": "experimental",
+      "isolation": "bounded-adapter",
+      "adapter_id": "experimental.lab-v1-vegetation-shadow/v1",
+      "input_roles": [
+        "ddrnet_goose_root",
+        "ppliteseg_goose_root",
+        "ddrnet_ravnoves_root",
+        "ppliteseg_ravnoves_root"
+      ],
+      "contracts": {
+        "source": "missioncore.goose-ravnoves-vegetation-source-set/v1",
+        "provider": "missioncore.goose-fine64-ready-weight-provider/v1",
+        "graph": "missioncore.vegetation-mission-policy-shadow-graph/v1",
+        "run": "missioncore.laboratory-run/v1",
+        "evidence": "missioncore.lab-v1-vegetation-shadow/v1"
+      }
     }
   ],
   "legacy_work_ids": [

config/laboratory-value-review.json

@@ -1,6 +1,6 @@
 {
   "schema_version": "missioncore.laboratory-value-review-registry/v1",
-  "reviewed_at_utc": "2026-08-26T08:34:34Z",
+  "reviewed_at_utc": "2026-08-27T20:59:10Z",
   "entries": [
     {
       "catalog_id": "e28-local-surface",
@@ -267,6 +267,27 @@
       "signal": "progress",
       "lifecycle": "current",
       "visual_evidence": "available"
+    },
+    {
+      "catalog_id": "m49-tgs-fail-closed-evidence",
+      "evidence_id": "m49-tgs-fail-closed-9d5cb089bb5cc23f829acb47eda52eaa886db3b60f8fa7d57e02e27f642e837b",
+      "signal": "progress",
+      "lifecycle": "current",
+      "visual_evidence": "available"
+    },
+    {
+      "catalog_id": "m49-tgs-full-shadow",
+      "evidence_id": "m49-tgs-full-shadow-0faeaaf3aba8dccae974eab51ff9cccf264a13ec285abb1920c1e5a09a7e87bc",
+      "signal": "progress",
+      "lifecycle": "current",
+      "visual_evidence": "available"
+    },
+    {
+      "catalog_id": "lab-v1-vegetation-shadow",
+      "evidence_id": "lab-v1-vegetation-shadow-ad4d9fbbb21ff8a270b77f559b4e78dcdaf0455afd61afb5033009623984e554",
+      "signal": "failed",
+      "lifecycle": "current",
+      "visual_evidence": "available"
     }
   ]
 }

config/perception/lab-v1-goose-vegetation-benchmark-v1.json

@@ -0,0 +1,119 @@
+{
+  "schema_version": "missioncore.lab-v1-goose-vegetation-benchmark/v1",
+  "lab_id": "LAB-V1",
+  "worker_id": "worker-006",
+  "runtime": {
+    "super_gradients_version": "3.2.0",
+    "super_gradients_revision": "54d062ecb1081944a672ce447cf3e96a36708ff9",
+    "python_version": "3.9",
+    "numpy_version": "1.23.0",
+    "cmake_version": "3.31.6",
+    "onnxsim_version": "0.4.36",
+    "opencv_python_version": "4.8.1.78",
+    "pytorch_version": "1.13.1",
+    "torchvision_version": "0.14.1",
+    "pytorch_cuda_version": "11.7",
+    "container_base": "nvidia/cuda:12.8.1-cudnn-devel-ubuntu22.04@sha256:ad6d59a3bbf3e82c1c849c9ac09cfc2a3e0bbb8655042fd899be6681b3fe2a85",
+    "miniconda_installer": "Miniconda3-py39_24.11.1-0-Linux-x86_64.sh",
+    "miniconda_installer_sha256": "3ea8373098d72140e08aac9217822b047ec094eb457e7f73945af7c6f68bf6f5"
+  },
+  "dataset": {
+    "dataset_id": "goose-2d-validation-visible-rgb",
+    "relative_root": "goose-2d/validation",
+    "mapping_relative_path": "goose_label_mapping.csv",
+    "mapping_sha256": "88ae319ba5a3877dd3ae0773f693a6a5fdc283934140de9dfaff029108aefd7f",
+    "image_glob": "images/val/**/*_windshield_vis.png",
+    "expected_pair_count": 962,
+    "input_size": [512, 512],
+    "preprocessing": [
+      "center-square-crop",
+      "nearest-neighbor-resize",
+      "rgb-to-tensor-0-1"
+    ]
+  },
+  "candidates": {
+    "ddrnet": {
+      "candidate_id": "goose-ddrnet-class-512",
+      "model_names": ["ddrnet_39"],
+      "checkpoint_relative_path": "models/goose/ddrnet_class_512.pth",
+      "checkpoint_size_bytes": 259419077,
+      "checkpoint_sha256": "b99c2838051bcd7b092fd3970aa62a77d5c0bbb809c9b9afb2ff4b0ebdaa4ee6",
+      "published_validation_miou_percent": 46.53
+    },
+    "ppliteseg": {
+      "candidate_id": "goose-ppliteseg-class-512",
+      "model_names": [
+        "pp_lite_t_seg",
+        "pp_lite_t_seg50",
+        "pp_lite_t_seg75",
+        "pp_lite_b_seg",
+        "pp_lite_b_seg50",
+        "pp_lite_b_seg75"
+      ],
+      "checkpoint_relative_path": "models/goose/ppliteseg_class_512.pth",
+      "checkpoint_size_bytes": 98208249,
+      "checkpoint_sha256": "6dd412c0c99115e359896c4cab43a8e6bce9e09b843e7fa885fe597b0a6121cd",
+      "published_validation_miou_percent": 45.09
+    }
+  },
+  "ravnoves": {
+    "source_id": "RAVNOVES00/right-cadd1696ff000904eb78633a0a8418104b8024f178b91f3421789021ccb160e8",
+    "source_sha256": "cadd1696ff000904eb78633a0a8418104b8024f178b91f3421789021ccb160e8",
+    "base_m4_result_id": "m4-threat-replay-2a953c5f27f2a5b1dddc5c658c1de2c323d7796084a099c024987a1da03aa324",
+    "expected_width": 800,
+    "expected_height": 600,
+    "expected_frame_count": 4489,
+    "frame_indices": [0, 253, 512, 768, 1024, 1536, 2048, 2560, 3072, 3584, 4096, 4488],
+    "crop_contract": "center-600-square-to-512; outside-crop-is-undefined"
+  },
+  "vegetation_class_names": [
+    "leaves",
+    "forest",
+    "bush",
+    "moss",
+    "tree_crown",
+    "tree_trunk",
+    "crops",
+    "low_grass",
+    "high_grass",
+    "scenery_vegetation",
+    "hedge",
+    "tree_root"
+  ],
+  "visual_case_contract": {
+    "selection_basis": "ground-truth-class-support-only",
+    "case_count": 12,
+    "minimum_focus_pixels": 2048,
+    "strata": [
+      { "class_name": "high_grass", "count": 2 },
+      { "class_name": "low_grass", "count": 2 },
+      { "class_name": "bush", "count": 2 },
+      { "class_name": "tree_trunk", "count": 2 },
+      { "class_name": "tree_crown", "count": 1 },
+      { "class_name": "hedge", "count": 1 },
+      { "class_name": "forest", "count": 1 },
+      { "class_name": "crops", "count": 1 }
+    ],
+    "error_overlay": {
+      "correct_material_rgba": [34, 197, 94, 72],
+      "missed_vegetation_rgba": [239, 68, 68, 220],
+      "false_vegetation_rgba": [245, 158, 11, 220],
+      "wrong_vegetation_material_rgba": [168, 85, 247, 220]
+    }
+  },
+  "policy_action_colors": {
+    "ALLOW": "#22c55e",
+    "HIGH_COST": "#f59e0b",
+    "NO_GO": "#ef4444"
+  },
+  "invariants": {
+    "one_heavy_candidate_at_a_time": true,
+    "raw_fisheye_is_immutable": true,
+    "outside_center_crop_is_free": false,
+    "missing_or_unknown_is_free": false,
+    "camera_semantics_can_clear_rigid_geometry": false,
+    "navigation_authority": false,
+    "actuation_authority": false,
+    "canonical_triton_mutation_allowed": false
+  }
+}

config/perception/lab-v1-vegetation-candidate-manifest-v1.json

@@ -0,0 +1,174 @@
+{
+  "schema_version": "missioncore.vegetation-candidate-manifest/v1",
+  "lab_id": "LAB-V1",
+  "ops_issue_id": "88aff22a-43aa-48fb-b7eb-ac424d987d37",
+  "frozen_utc": "2026-08-27T18:39:00Z",
+  "worker": {
+    "worker_id": "worker-006",
+    "candidate_root": "D:\\NDC_MISSIONCORE\\datasets\\vegetation-v1\\observed-2026-08-27",
+    "canonical_runtime_mutation_allowed": false
+  },
+  "upstream_sources": [
+    {
+      "source_id": "wildscenes",
+      "repository": "https://github.com/csiro-robotics/WildScenes.git",
+      "revision": "9eb4e10b4483a634159e2b371be0437e465fe218",
+      "worker_relative_path": "sources/wildscenes"
+    },
+    {
+      "source_id": "rellis-3d",
+      "repository": "https://github.com/unmannedlab/RELLIS-3D.git",
+      "revision": "c17a118fcaed1559f03cc32cc3a91dedc557f8b8",
+      "worker_relative_path": "sources/rellis-3d"
+    },
+    {
+      "source_id": "orfd-offnet",
+      "repository": "https://github.com/chaytonmin/Off-Road-Freespace-Detection.git",
+      "revision": "50e63d24836198e8fb5af707e521f414104b4876",
+      "worker_relative_path": "sources/orfd"
+    }
+  ],
+  "candidate_assets": [
+    {
+      "candidate_id": "goose-ppliteseg-category-512",
+      "modality": "camera-2d",
+      "family": "ppliteseg",
+      "output_contract": "goose-category-12",
+      "input_resolution": [512, 512],
+      "relative_path": "models/goose/ppliteseg_category_512.pth",
+      "size_bytes": 98180357,
+      "sha256": "87bf55a1ae994a4bdf3a4d30c8f0dec2916994b37d433f0b5b694d63157ee0ab",
+      "asset_status": "accepted",
+      "runner_status": "super-gradients-compatibility-probe-required"
+    },
+    {
+      "candidate_id": "goose-ppliteseg-class-512",
+      "modality": "camera-2d",
+      "family": "ppliteseg",
+      "output_contract": "goose-class-64",
+      "input_resolution": [512, 512],
+      "relative_path": "models/goose/ppliteseg_class_512.pth",
+      "size_bytes": 98208249,
+      "sha256": "6dd412c0c99115e359896c4cab43a8e6bce9e09b843e7fa885fe597b0a6121cd",
+      "asset_status": "accepted",
+      "runner_status": "super-gradients-compatibility-probe-required"
+    },
+    {
+      "candidate_id": "goose-ddrnet-category-512",
+      "modality": "camera-2d",
+      "family": "ddrnet",
+      "output_contract": "goose-category-12",
+      "input_resolution": [512, 512],
+      "relative_path": "models/goose/ddrnet_category_512.pth",
+      "size_bytes": 259313579,
+      "sha256": "ddab58d3b27309e4e1545ecb0eafbe077f3ebd58fe7120defe44478424c2a20e",
+      "asset_status": "accepted",
+      "runner_status": "super-gradients-compatibility-probe-required"
+    },
+    {
+      "candidate_id": "goose-ddrnet-class-512",
+      "modality": "camera-2d",
+      "family": "ddrnet",
+      "output_contract": "goose-class-64",
+      "input_resolution": [512, 512],
+      "relative_path": "models/goose/ddrnet_class_512.pth",
+      "size_bytes": 259419077,
+      "sha256": "b99c2838051bcd7b092fd3970aa62a77d5c0bbb809c9b9afb2ff4b0ebdaa4ee6",
+      "asset_status": "accepted",
+      "runner_status": "super-gradients-compatibility-probe-required"
+    },
+    {
+      "candidate_id": "rellis-hrnet-ocr",
+      "modality": "camera-2d",
+      "family": "hrnet-ocr",
+      "output_contract": "rellis-20-class",
+      "relative_path": "models/rellis-3d/hrnet_best.zip",
+      "size_bytes": 788183119,
+      "sha256": "2842b7c427d9abb3f34725dea306b72422af5293cd8289da3035edff81deac27",
+      "asset_status": "accepted",
+      "runner_status": "upstream-validation-probe-required"
+    },
+    {
+      "candidate_id": "rellis-gscnn",
+      "modality": "camera-2d",
+      "family": "gscnn",
+      "output_contract": "rellis-20-class",
+      "relative_path": "models/rellis-3d/gscnn_best.pth",
+      "size_bytes": 1098515419,
+      "sha256": "d77a83032ff9b3dea74bdbdd9bb12c0810ddff0dce6a02d42264c592fbdc0b18",
+      "asset_status": "accepted-size-and-hash-legacy-pickle",
+      "runner_status": "upstream-validation-probe-required"
+    },
+    {
+      "candidate_id": "rellis-salsanext",
+      "modality": "lidar-3d",
+      "family": "salsanext",
+      "output_contract": "rellis-20-class",
+      "relative_path": "models/rellis-3d/salsanext_best.zip",
+      "size_bytes": 164312336,
+      "sha256": "6cab4f0c4ac556f9597d338692f2dee1a9e9438941f9d85159685616b948fafb",
+      "asset_status": "accepted",
+      "runner_status": "native-scan-compatibility-probe-required"
+    },
+    {
+      "candidate_id": "rellis-kpconv",
+      "modality": "lidar-3d",
+      "family": "kpconv",
+      "output_contract": "rellis-20-class",
+      "relative_path": "models/rellis-3d/kpconv_best.zip",
+      "size_bytes": 1522250650,
+      "sha256": "d2a11b7a66290cce3d592e830889c3bcb188c62ced83092a7201765621b8bfc3",
+      "asset_status": "accepted",
+      "runner_status": "native-scan-compatibility-probe-required"
+    },
+    {
+      "candidate_id": "wildscenes-model-bundle",
+      "modality": "camera-2d-and-lidar-3d",
+      "family": "mmsegmentation-and-mmdetection3d",
+      "output_contract": "wildscenes-natural-environment",
+      "bundle_entries": [
+        "spvcnn_wildscenes.pth",
+        "minkunet_wildscenes.pth",
+        "deeplabv3_wildscenes.pth",
+        "segformer_wildscenes.pth",
+        "cylinder3d_wildscenes.pth",
+        "mask2former_swin_wildscenes.pth",
+        "upernet_convnext_wildscenes.pth",
+        "mask2former_resnet_wildscenes.pth"
+      ],
+      "relative_path": "models/wildscenes/WildScenes-Models.zip",
+      "size_bytes": 8637507567,
+      "sha256": "0b5040b157e928263bdbefeaffbd36414c2cb641ebc70713b3be3460c1feaf2b",
+      "asset_status": "accepted",
+      "runner_status": "upstream-docker-validation-probe-required"
+    },
+    {
+      "candidate_id": "orfd-offnet-roadseg",
+      "modality": "camera-lidar-fusion",
+      "family": "offnet",
+      "output_contract": "binary-freespace",
+      "relative_path": "models/orfd-offnet/OFF-Net/best_net_RoadSeg.pth",
+      "size_bytes": 100976531,
+      "sha256": "4d82a9ba1c5411a8159e1a262f1741a6a163c8bd9751d52a90fb10deb237650d",
+      "asset_status": "accepted",
+      "runner_status": "upstream-validation-probe-required"
+    }
+  ],
+  "execution_sequence": [
+    "upstream-runner-reproduction",
+    "official-validation-sample",
+    "native-fisheye-or-lidar-compatibility",
+    "shared-vegetation-label-mapping",
+    "recorded-shadow-quality-and-resource-tournament",
+    "mission-policy-composition-without-actuation"
+  ],
+  "invariants": {
+    "one_heavy_candidate_at_a_time": true,
+    "raw_fisheye_is_immutable": true,
+    "missing_or_unknown_is_free": false,
+    "semantic_label_can_clear_rigid_geometry": false,
+    "preset_can_override_explicit_mission_rule": false,
+    "navigation_authority": false,
+    "actuation_authority": false
+  }
+}

config/perception/lab-v1-vegetation-mission-policy-v1.json

@@ -0,0 +1,108 @@
+{
+  "schema_version": "missioncore.vegetation-mission-policy/v1",
+  "profile_id": "lab-v1-vegetation-mission-policy/v1",
+  "status": "planning-shadow-only-unqualified",
+  "vehicle_profile": {
+    "path": "config/perception/m49-physical-safety-shadow-v0.json",
+    "profile_id": "m49-mission-core-rover-physical-safety-shadow/v0"
+  },
+  "actions": [
+    "ALLOW",
+    "HIGH_COST",
+    "NO_GO"
+  ],
+  "precedence": [
+    "hard_safety_interlock",
+    "explicit_mission_rule",
+    "selected_preset_default"
+  ],
+  "material_classes": [
+    "hard_surface",
+    "bare_soil",
+    "grass",
+    "fern",
+    "herbaceous_vegetation",
+    "cultivated_vegetation",
+    "woody_shrub",
+    "tree_or_trunk",
+    "vegetation_unknown"
+  ],
+  "mission_overridable_materials": [
+    "grass",
+    "fern",
+    "herbaceous_vegetation",
+    "cultivated_vegetation"
+  ],
+  "presets": {
+    "urban": {
+      "hard_surface": "ALLOW",
+      "bare_soil": "HIGH_COST",
+      "grass": "NO_GO",
+      "fern": "NO_GO",
+      "herbaceous_vegetation": "NO_GO",
+      "cultivated_vegetation": "NO_GO",
+      "woody_shrub": "NO_GO",
+      "tree_or_trunk": "NO_GO",
+      "vegetation_unknown": "NO_GO"
+    },
+    "rural": {
+      "hard_surface": "ALLOW",
+      "bare_soil": "ALLOW",
+      "grass": "HIGH_COST",
+      "fern": "HIGH_COST",
+      "herbaceous_vegetation": "HIGH_COST",
+      "cultivated_vegetation": "NO_GO",
+      "woody_shrub": "NO_GO",
+      "tree_or_trunk": "NO_GO",
+      "vegetation_unknown": "NO_GO"
+    },
+    "offroad": {
+      "hard_surface": "ALLOW",
+      "bare_soil": "ALLOW",
+      "grass": "HIGH_COST",
+      "fern": "HIGH_COST",
+      "herbaceous_vegetation": "HIGH_COST",
+      "cultivated_vegetation": "NO_GO",
+      "woody_shrub": "NO_GO",
+      "tree_or_trunk": "NO_GO",
+      "vegetation_unknown": "NO_GO"
+    }
+  },
+  "evidence_policy": {
+    "policy_eligible_states": [
+      "SUPPORTED_GROUND",
+      "VEGETATION_POTENTIALLY_TRAVERSABLE"
+    ],
+    "force_no_go_states": [
+      "UNOBSERVED",
+      "NEGATIVE_OR_UNSUPPORTED",
+      "RIGID_OR_UNKNOWN_OBSTACLE",
+      "VEGETATION_UNKNOWN",
+      "VEGETATION_WITH_RIGID_GEOMETRY"
+    ],
+    "force_no_go_materials": [
+      "woody_shrub",
+      "tree_or_trunk",
+      "vegetation_unknown"
+    ],
+    "missing_material_is": "vegetation_unknown",
+    "missing_evidence_is": "UNOBSERVED",
+    "camera_semantics_can_clear_rigid_geometry": false,
+    "mission_rule_can_override_hard_safety_interlock": false
+  },
+  "mission_configuration_contract": {
+    "preset_is_required": true,
+    "explicit_rules_are_sparse_overrides": true,
+    "preset_may_be_suggested_automatically": true,
+    "automatic_preset_switch_requires_operator_opt_in": true,
+    "automatic_switch_may_weaken_explicit_mission_rule": false,
+    "operator_must_review_effective_rules_before_start": true
+  },
+  "authority": {
+    "perception_selects_mission_action": false,
+    "preset_grants_actuation": false,
+    "navigation_accepted": false,
+    "safety_accepted": false,
+    "actuation_accepted": false
+  }
+}

config/perception/lab-v1-vegetation-provider-label-map-v1.json

@@ -0,0 +1,84 @@
+{
+  "schema_version": "missioncore.vegetation-provider-label-map/v1",
+  "profile_id": "lab-v1-vegetation-provider-label-map/v1",
+  "policy_profile_id": "lab-v1-vegetation-mission-policy/v1",
+  "providers": {
+    "goose-fine-64": {
+      "unmapped_policy": "no-material-claim",
+      "class_granularity": "fine",
+      "can_distinguish_low_and_high_grass": true,
+      "can_distinguish_tree_trunk": true,
+      "labels": {
+        "asphalt": "hard_surface",
+        "bikeway": "hard_surface",
+        "cobble": "hard_surface",
+        "sidewalk": "hard_surface",
+        "gravel": "bare_soil",
+        "soil": "bare_soil",
+        "low_grass": "grass",
+        "high_grass": "herbaceous_vegetation",
+        "moss": "herbaceous_vegetation",
+        "crops": "cultivated_vegetation",
+        "bush": "woody_shrub",
+        "hedge": "woody_shrub",
+        "tree_trunk": "tree_or_trunk",
+        "tree_root": "tree_or_trunk",
+        "forest": "vegetation_unknown",
+        "leaves": "vegetation_unknown",
+        "scenery_vegetation": "vegetation_unknown",
+        "tree_crown": "vegetation_unknown"
+      }
+    },
+    "goose-category-12": {
+      "unmapped_policy": "no-material-claim",
+      "class_granularity": "coarse",
+      "can_distinguish_low_and_high_grass": false,
+      "can_distinguish_tree_trunk": false,
+      "labels": {
+        "artificial_ground": "hard_surface",
+        "vegetation": "vegetation_unknown"
+      }
+    },
+    "wildscenes-19": {
+      "unmapped_policy": "no-material-claim",
+      "class_granularity": "medium",
+      "can_distinguish_low_and_high_grass": false,
+      "can_distinguish_tree_trunk": true,
+      "labels": {
+        "asphalt/concrete": "hard_surface",
+        "dirt": "bare_soil",
+        "gravel": "bare_soil",
+        "grass": "grass",
+        "bush": "woody_shrub",
+        "tree-trunk": "tree_or_trunk",
+        "tree-foliage": "vegetation_unknown"
+      }
+    },
+    "rellis-20": {
+      "unmapped_policy": "no-material-claim",
+      "class_granularity": "medium",
+      "can_distinguish_low_and_high_grass": false,
+      "can_distinguish_tree_trunk": false,
+      "labels": {
+        "asphalt": "hard_surface",
+        "concrete": "hard_surface",
+        "grass": "grass",
+        "bush": "woody_shrub",
+        "tree": "tree_or_trunk"
+      }
+    },
+    "orfd-binary-freespace": {
+      "unmapped_policy": "no-material-claim",
+      "class_granularity": "binary-geometry-only",
+      "can_distinguish_low_and_high_grass": false,
+      "can_distinguish_tree_trunk": false,
+      "labels": {}
+    }
+  },
+  "invariants": {
+    "unmapped_label_means_free": false,
+    "coarse_vegetation_means_grass": false,
+    "binary_freespace_selects_material": false,
+    "provider_label_grants_actuation": false
+  }
+}

config/perception/m49-camera-lidar-traversability-v1.json

@@ -0,0 +1,59 @@
+{
+  "schema_version": "missioncore.camera-lidar-traversability/v1",
+  "roles": {
+    "camera_semantics": "material-and-risk-meaning-primary",
+    "lidar": "metric-geometry-and-positive-support-primary",
+    "arbitration": "preserve-contradiction-never-unilateral-clear"
+  },
+  "camera_contract": {
+    "raster": "native-800x600-fisheye",
+    "rectification_allowed": false,
+    "new_model_allowed": false,
+    "vegetation_classes": [
+      "grass_low_vegetation",
+      "tree_woody_vegetation"
+    ]
+  },
+  "states": [
+    {
+      "id": "RIGID_OR_UNKNOWN_OBSTACLE",
+      "required_evidence": "stable-metric-nonground-without-vegetation-support",
+      "cost": "lethal-or-unknown"
+    },
+    {
+      "id": "VEGETATION_UNKNOWN",
+      "required_evidence": "camera-vegetation-without-positive-ground-support",
+      "cost": "unknown-never-free"
+    },
+    {
+      "id": "VEGETATION_POTENTIALLY_TRAVERSABLE",
+      "required_evidence": "camera-low-vegetation-plus-positive-ground-without-concentrated-rigid-return",
+      "cost": "high-cost-terrain"
+    },
+    {
+      "id": "VEGETATION_WITH_RIGID_GEOMETRY",
+      "required_evidence": "camera-vegetation-plus-concentrated-persistent-vertical-geometry",
+      "cost": "lethal"
+    },
+    {
+      "id": "SUPPORTED_GROUND",
+      "required_evidence": "positive-ground-support-without-blocking-geometry",
+      "cost": "candidate-traversable"
+    }
+  ],
+  "invariants": {
+    "camera_can_clear_positive_rigid_geometry": false,
+    "lidar_nonground_alone_means_rigid_object": false,
+    "missing_lidar_support_means_free": false,
+    "vegetation_is_binary_free_or_lethal": false,
+    "physical_navigation_authority": false
+  },
+  "deferred_robot_profile": [
+    "footprint",
+    "ground_clearance",
+    "traction",
+    "maximum_slope",
+    "admissible_vegetation_height",
+    "vegetation_contact_allowed"
+  ]
+}

config/perception/m49-physical-safety-shadow-v0.json

@@ -0,0 +1,107 @@
+{
+  "schema_version": "missioncore.m49-physical-safety-shadow-profile/v1",
+  "profile_id": "m49-mission-core-rover-physical-safety-shadow/v0",
+  "status": "planning-only-unqualified",
+  "vehicle": {
+    "source": "operator-supplied-2026-08-27-unverified",
+    "body_length_m": 1.0,
+    "body_width_m": 0.8,
+    "body_height_m": 0.4,
+    "ground_clearance_m": 0.15,
+    "nominal_mass_kg": 100.0,
+    "mass_qualification": "estimate-not-weighed",
+    "provisional_centered_footprint_body_xy_m": [
+      [0.5, 0.4],
+      [0.5, -0.4],
+      [-0.5, -0.4],
+      [-0.5, 0.4]
+    ],
+    "nominal_speed_mps": 0.2777777778,
+    "maximum_operating_speed_mps": 0.5555555556,
+    "drive": {
+      "motor_count": 2,
+      "rated_power_per_motor_w": 500.0,
+      "motor_per_side": true,
+      "steering_model": "unqualified-likely-differential"
+    }
+  },
+  "unresolved_physical_inputs": [
+    "measured-mass-and-center-of-gravity",
+    "wheel-diameter-and-width",
+    "wheelbase-track-and-overhangs",
+    "qualified-base-link-origin",
+    "controller-braking-and-loss-of-power-behavior",
+    "measured-stopping-envelope",
+    "maximum-step-slope-and-side-slope",
+    "lidar-camera-to-body-extrinsics",
+    "negative-obstacle-sensor-coverage"
+  ],
+  "terrain_evidence": {
+    "accepted_baseline_profile": "m49-tgs-full-shadow-v1.json",
+    "accepted_baseline_cell_size_m": 0.45,
+    "baseline_mutation_allowed": false,
+    "challenger_cell_sizes_m": [0.15, 0.1],
+    "challenger_radius_m": 12.0,
+    "missing_support_policy": "stop-never-free",
+    "required_states": [
+      "SUPPORTED",
+      "RIGID_OR_UNKNOWN_OBSTACLE",
+      "NEGATIVE_OR_UNSUPPORTED",
+      "VEGETATION_UNKNOWN",
+      "VEGETATION_POTENTIALLY_TRAVERSABLE",
+      "VEGETATION_WITH_RIGID_GEOMETRY"
+    ]
+  },
+  "operator_visual": {
+    "host_profile": "14-inch-2023-macbook-pro-18-gib",
+    "worker_role": "realtime-only",
+    "lab_artifact_generation": "local-sequential-offline-or-imported-sealed",
+    "lab_build_may_take_longer_than_source_duration": true,
+    "source_pace_hz": 10.0,
+    "render_policy": "on-demand-with-interaction-damping",
+    "transport": "sealed-local-binary-chunks-no-per-cell-json",
+    "worker_runtime_dependency": false,
+    "sealed_artifact_required": true,
+    "offline_worker_open_required": true,
+    "full_session_high_resolution_preload_allowed": false,
+    "playback_buffer": {
+      "chunk_frame_count": 32,
+      "startup_prebuffer_chunk_count": 2,
+      "startup_prebuffer_seconds": 6.4,
+      "resident_chunk_count_max": 3,
+      "resident_window_seconds_max": 9.6,
+      "forward_prefetch_chunk_count": 1,
+      "backward_seek_policy": "load-target-and-next-from-sealed-local-artifact"
+    },
+    "lod": {
+      "safety_computation_reduced_by_visual_lod": false,
+      "near_field_radius_m": 4.0,
+      "near_field_cell_size_m": 0.15,
+      "mid_field_radius_m": 8.0,
+      "mid_field_cell_size_m": 0.3,
+      "far_field_radius_m": 12.0,
+      "far_field_cell_size_m": 0.45,
+      "paused_active_frame_full_resolution_available": true
+    },
+    "acceptance_budget": {
+      "main_thread_frame_prepare_p95_ms_max": 10.0,
+      "webgl_render_submit_p95_ms_target": 16.7,
+      "webgl_render_submit_p95_ms_max": 33.3,
+      "evidence_to_visible_p95_ms_max": 100.0,
+      "incremental_resident_memory_mib_max": 256.0,
+      "post_warmup_memory_growth_mib_max": 32.0,
+      "long_task_over_50ms_count_max": 0,
+      "webgl_context_loss_count_max": 0,
+      "worker_unavailable_open_failure_count_max": 0,
+      "worker_request_count_during_lab_open_max": 0,
+      "worker_request_count_during_lab_build_max": 0
+    }
+  },
+  "authority": {
+    "commands_enabled": false,
+    "navigation_accepted": false,
+    "safety_accepted": false,
+    "actuation_accepted": false,
+    "physical_test_accepted": false
+  }
+}

config/perception/m49-tgs-fail-closed-evidence-v1.json

@@ -0,0 +1,69 @@
+{
+  "schema_version": "missioncore.m49-tgs-fail-closed-evidence-profile/v1",
+  "profile_id": "m49-ravnoves00-tgs-fail-closed-evidence/v1",
+  "source": {
+    "source_id": "RAVNOVES00",
+    "session_id": "20260720T065719Z_viewer_live",
+    "source_pack_id": "e10-lidar-pack-576c994a6c814e2592dd6240ace3902a5db94843312c759a73ba0c9166157d2b",
+    "source_pack_sha256": "0685d24219d8236caf8b7f1685e93f6d6b59e7fd015a768d88a92bbe8b154944",
+    "travel_revision": "95dc2fbd66a343efd9060c45a5711b6307a950a4",
+    "compatibility_decision_sha256": "ff0b27f469cccad258c53ae07cb04ad00e696d82b32021c4f1f38ba7fa39d66a",
+    "input_coordinate_frame": "map-gravity-local-translation-only"
+  },
+  "anchors": [171, 306, 368, 402, 450, 509, 525, 744, 1122, 1856],
+  "tgs": {
+    "max_range_m": 80.0,
+    "min_range_m": 1.0,
+    "resolution_m": 8.0,
+    "num_iterations": 3,
+    "num_lowest_representative_points": 5,
+    "minimum_points": 10,
+    "seed_threshold_m": 0.5,
+    "distance_threshold_m": 0.125,
+    "outlier_threshold_m": 0.3,
+    "normal_threshold": 0.94,
+    "weight_threshold": 200.0,
+    "lcc_normal_similarity": 0.03,
+    "lcc_planar_distance_m": 0.1,
+    "obstacle_height_m": 1.0,
+    "refine_mode": true
+  },
+  "profiles": {
+    "current_increment": {
+      "role": "diagnostic-current-evidence"
+    },
+    "causal_rolling_1s": {
+      "role": "primary-local-evidence",
+      "history_seconds": 1.0,
+      "local_radius_m": 12.0
+    }
+  },
+  "costmap": {
+    "coordinate_frame": "map-gravity-local",
+    "cell_size_m": 0.45,
+    "radius_m": 12.0,
+    "state_priority": [
+      "NONGROUND_OCCUPIED",
+      "UNKNOWN_REJECTED",
+      "GROUND_SUPPORT",
+      "UNOBSERVED"
+    ]
+  },
+  "state_codes": {
+    "UNOBSERVED": 0,
+    "GROUND_SUPPORT": 1,
+    "NONGROUND_OCCUPIED": 2,
+    "UNKNOWN_REJECTED": 3
+  },
+  "invariants": {
+    "all_eligible_input_points_accounted": true,
+    "aos_allowed": false,
+    "lidar_orientation_applied_to_tgs_input": false,
+    "map_gravity_axis_preserved": true,
+    "missing_support_means_free": false,
+    "unobserved_cells_are_emitted": true,
+    "camera_projection_is_authoritative": false,
+    "gpu_allowed": false,
+    "navigation_or_actuation_allowed": false
+  }
+}

config/perception/m49-tgs-full-shadow-v1.json

@@ -0,0 +1,77 @@
+{
+  "schema_version": "missioncore.m49-tgs-full-shadow-profile/v1",
+  "profile_id": "m49-ravnoves00-tgs-full-shadow/v1",
+  "source": {
+    "source_id": "RAVNOVES00",
+    "session_id": "20260720T065719Z_viewer_live",
+    "source_pack_id": "e10-lidar-pack-576c994a6c814e2592dd6240ace3902a5db94843312c759a73ba0c9166157d2b",
+    "source_pack_sha256": "0685d24219d8236caf8b7f1685e93f6d6b59e7fd015a768d88a92bbe8b154944",
+    "travel_revision": "95dc2fbd66a343efd9060c45a5711b6307a950a4",
+    "input_coordinate_frame": "map-gravity-local-translation-only",
+    "expected_timeline_frames": 4489,
+    "expected_available_lidar_frames": 3928
+  },
+  "tgs": {
+    "max_range_m": 80.0,
+    "min_range_m": 1.0,
+    "resolution_m": 8.0,
+    "num_iterations": 3,
+    "num_lowest_representative_points": 5,
+    "minimum_points": 10,
+    "seed_threshold_m": 0.5,
+    "distance_threshold_m": 0.125,
+    "outlier_threshold_m": 0.3,
+    "normal_threshold": 0.94,
+    "weight_threshold": 200.0,
+    "lcc_normal_similarity": 0.03,
+    "lcc_planar_distance_m": 0.1,
+    "obstacle_height_m": 1.0,
+    "refine_mode": true
+  },
+  "profile": {
+    "id": "causal_rolling_1s",
+    "history_seconds": 1.0,
+    "local_radius_m": 12.0,
+    "missing_lidar_policy": "all-cells-unobserved"
+  },
+  "costmap": {
+    "coordinate_frame": "map-gravity-local",
+    "cell_size_m": 0.45,
+    "radius_m": 12.0,
+    "state_priority": [
+      "NONGROUND_OCCUPIED",
+      "UNKNOWN_REJECTED",
+      "GROUND_SUPPORT",
+      "UNOBSERVED"
+    ]
+  },
+  "state_codes": {
+    "UNOBSERVED": 0,
+    "GROUND_SUPPORT": 1,
+    "NONGROUND_OCCUPIED": 2,
+    "UNKNOWN_REJECTED": 3
+  },
+  "acceptance": {
+    "recorded_source_rate_hz": 10.0,
+    "minimum_effective_timeline_fps": 10.0,
+    "candidate_stage_p95_ms_max": 25.0,
+    "candidate_stage_p99_ms_max": 50.0,
+    "completion_age_p99_ms_max": 100.0,
+    "capacity_drop_count_max": 0,
+    "unaccounted_available_frame_count_max": 0,
+    "unaccounted_eligible_point_count_max": 0
+  },
+  "invariants": {
+    "all_eligible_input_points_accounted": true,
+    "aos_allowed": false,
+    "lidar_orientation_applied_to_tgs_input": false,
+    "map_gravity_axis_preserved": true,
+    "missing_support_means_free": false,
+    "missing_lidar_means_unobserved": true,
+    "unobserved_cells_are_emitted": true,
+    "future_frames_used": false,
+    "camera_projection_is_authoritative": false,
+    "gpu_allowed": false,
+    "navigation_or_actuation_allowed": false
+  }
+}

config/perception/m49-tgs-integrated-graph-shadow-v1.json

@@ -0,0 +1,73 @@
+{
+  "schema_version": "missioncore.m49-tgs-integrated-graph-shadow-profile/v1",
+  "profile_id": "m49-ravnoves00-tgs-native-risk-integrated-shadow/v1",
+  "source": {
+    "source_id": "RAVNOVES00",
+    "expected_timeline_frames": 4489,
+    "expected_available_lidar_frames": 3928,
+    "source_pack_sha256": "0685d24219d8236caf8b7f1685e93f6d6b59e7fd015a768d88a92bbe8b154944",
+    "requested_source_rate_hz": 12.0,
+    "shared_start_barrier": true
+  },
+  "stages": {
+    "reference_graph": {
+      "graph_config": "m48n-rf-detr-native-reference-graph-shadow-v0.json",
+      "graph_config_sha256": "1db6f6fa0561d819505a5e4f62fe256dab6fe4d9da6b4f1a9a5073bfcf772c90",
+      "detector_profile": "rf-detr-large-native-kb4-risk-shadow-v0.json",
+      "detector_profile_sha256": "dbf4da5dbad6c3c22b1280b46ffcad81719bd183c81c263a4859847d829019b6",
+      "detector_provider_id": "triton-rf-detr-large-coco-native-kb4-risk-fp16-shadow/v0",
+      "single_inference_pass": true
+    },
+    "tgs": {
+      "profile": "m49-tgs-full-shadow-v1.json",
+      "profile_sha256": "c2e07010aaee78259d36c057962d6bfb885349251ff7356d867e5813e632881c",
+      "candidate_id": "travel-tgs-only-gravity-aligned",
+      "linked_accepted_result_id": "m49-tgs-full-shadow-ef98de7db7596d48e8c8c0549ce68e6704ee03e87c8c4bcf1e3e748b7ccb032e",
+      "aos_allowed": false,
+      "gpu_allowed": false,
+      "states_remain_separate": true
+    }
+  },
+  "acceptance": {
+    "minimum_delivery_ratio": 1.0,
+    "reference_world_state_fps": 11.79902,
+    "maximum_world_state_fps_regression_fraction": 0.05,
+    "minimum_effective_world_state_fps": 11.209069,
+    "maximum_world_state_completion_p95_ms": 125.0,
+    "candidate_stage_p95_ms_max": 25.0,
+    "candidate_stage_p99_ms_max": 50.0,
+    "combined_output_age_p99_ms_max": 125.0,
+    "capacity_drop_count_max": 0,
+    "unaccounted_frame_count_max": 0
+  },
+  "telemetry": {
+    "sample_interval_seconds": 1.0,
+    "required_products": [
+      "graph_pipeline_timing",
+      "graph_queue_high_watermarks",
+      "tgs_stage_timing",
+      "host_container_cpu_memory",
+      "gpu_utilization_memory_power_temperature"
+    ]
+  },
+  "invariants": {
+    "native_fisheye_raster_unchanged": true,
+    "camera_rectification_allowed": false,
+    "camera_resize_allowed": false,
+    "tgs_candidate_parameters_unchanged": true,
+    "tgs_modifies_reference_graph_state": false,
+    "missing_lidar_means_unobserved": true,
+    "future_frames_used": false,
+    "low_step_used": false,
+    "gauss_or_playcanvas_in_scope": false
+  },
+  "authority": {
+    "visual_quality_accepted": false,
+    "traversability_accepted": false,
+    "physical_free_space_accepted": false,
+    "commands_enabled": false,
+    "actuation_allowed": false,
+    "navigation_or_safety_accepted": false,
+    "production_accepted": false
+  }
+}

config/perception/m49-travel-ravnoves-compatibility-v1.json

@@ -0,0 +1,56 @@
+{
+  "schema_version": "missioncore.m49-travel-ravnoves-compatibility/v1",
+  "profile_id": "m49-travel-ravnoves-compatibility/v1",
+  "candidate": {
+    "id": "travel",
+    "revision": "95dc2fbd66a343efd9060c45a5711b6307a950a4",
+    "worker_image_id": "sha256:7b412020f4d8392d1d1ed1b33beadc44140f0ea8f781e62dd69796042334300f",
+    "upstream_profile": "kitti-64x4500"
+  },
+  "source": {
+    "source_id": "RAVNOVES00",
+    "session_id": "20260720T065719Z_viewer_live",
+    "representation": "registered-map-increment-v1",
+    "source_pack_id": "e10-lidar-pack-576c994a6c814e2592dd6240ace3902a5db94843312c759a73ba0c9166157d2b",
+    "source_pack_sha256": "0685d24219d8236caf8b7f1685e93f6d6b59e7fd015a768d88a92bbe8b154944",
+    "intensity_available": false,
+    "ring_available": false,
+    "per_point_time_available": false,
+    "native_ray_model_available": false
+  },
+  "anchors": [171, 306, 368, 402, 450, 509, 525, 744, 1122, 1856],
+  "input_profiles": [
+    {
+      "id": "current_increment",
+      "description": "Exact current registered map increment transformed into the current lidar frame.",
+      "history_seconds": 0.0,
+      "local_radius_m": null,
+      "travel_min_range_m": 1.0,
+      "travel_max_range_m": 80.0
+    },
+    {
+      "id": "causal_rolling_1s",
+      "description": "Current and past registered increments from one second, bounded by the accepted local-map radius.",
+      "history_seconds": 1.0,
+      "local_radius_m": 12.0,
+      "travel_min_range_m": 1.0,
+      "travel_max_range_m": 80.0
+    }
+  ],
+  "order_variants": ["source", "reversed"],
+  "compatibility_acceptance": {
+    "ground_and_nonground_account_for_all_in_range_input_points": true,
+    "minimum_partition_multiset_jaccard": 0.99,
+    "minimum_labeled_multiset_jaccard": 0.99,
+    "all_outputs_must_be_finite": true
+  },
+  "invariants": {
+    "future_frames_allowed": false,
+    "missing_support_means_free": false,
+    "rolling_support_can_clear_space": false,
+    "zero_filled_intensity_has_semantic_authority": false,
+    "camera_resize_or_rectification_allowed": false,
+    "gpu_allowed": false,
+    "navigation_or_actuation_allowed": false
+  }
+}

config/perception/m49-traversability-candidate-manifest-v1.json

@@ -15,6 +15,12 @@
       "candidate_id": "gseg3d-ground-consistency",
       "role": "primary",
       "components": [
+        {
+          "repository": "https://github.com/dfki-ric/ground_segmentation.git",
+          "revision": "116f510485ea5b4707e2b476958d34a5a067f647",
+          "observed_ref": "refs/heads/master",
+          "license": "BSD-3-Clause"
+        },
         {
           "repository": "https://github.com/dfki-ric/ground_segmentation_ros2.git",
           "revision": "5c5ba6f5ca0d682db2d59b2ad2f6a317ee938b95",

docs/20_SIMULATION_WORLD_SURFACE_BRIEF.md

@@ -1,6 +1,7 @@
 # Simulation Worlds — product-surface brief
 
-Status: accepted for the first working vertical slice on 2026-08-26.
+Status: accepted for the first working vertical slice on 2026-08-26; visual/physical stage boundary
+revised on 2026-08-27.
 
 ## Job story
 
@@ -57,8 +58,10 @@ Mission Core backend
 DC Gaussian Pipeline
   ├─ TUS bundle or archive admission
   ├─ secure ZIP/RAR/7z normalization
-  ├─ native Vulkan SplatTransform build on Worker 006
-  └─ bounded collision simplification + mandatory Draco publication
+  ├─ native Vulkan SplatTransform visual build on Worker 006
+  └─ optional Mesh_Files/*.ply source-collision path
+       ├─ conservative small-hole repair and topology audit
+       └─ mandatory Draco, digest-bound publication
 ```
 
 The browser never receives the Worker token. Mission Core does not embed archive-format behavior
@@ -76,13 +79,18 @@ SplatTransform GPU command through a confined filesystem spool to the pinned nat
 on the RTX 4090. It does not install into or share the Python, CUDA, Triton or computer-vision
 environments on the host.
 
-Collision publication is deliberately two-stage. SplatTransform generates smooth collision and
-SVO query data at a scene-type voxel size (`0.2 m` outdoors, `0.1 m` indoors/objects). The isolated
-pipeline container then bounds the debug/physics mesh to a default 250,000-triangle target and
-always writes `KHR_draco_mesh_compression` before the artifact digest is sealed. Simplification
-controls decoded geometry cost; Draco controls transfer and stored bytes and is never treated as a
-replacement for a physics mesh budget. The browser loads the result through a pinned local Draco
-WASM decoder with no external decoder request.
+Project processing never generates collision geometry from Gaussian data by default. When the
+normalized source contains exactly one PLY below `Mesh_Files`, the same queued build automatically
+selects the provider's `source` collision profile. The original indexed mesh is retained; only
+strictly admitted small internal boundary loops on approximately planar Z-up surfaces receive new
+triangles. Vertices and existing faces are never moved, welded, smoothed, simplified or remeshed.
+The derived GLB then passes the mandatory Draco publication gate and carries a separate repair
+report. A source with no admitted PLY remains visual-only and still reaches `ready` normally.
+
+The conservative repair rejects outer borders, branched boundaries, large or non-planar loops,
+vertical openings, mixed orientation and failed/self-intersecting triangulations. Ambiguous holes
+remain open and are counted in the report instead of being silently capped. Explicit mesh
+generation from Gaussian data remains a later experiment, not a fallback in this ingestion path.
 
 Visual and collision layers retain independent X/Y/Z correction settings, while PlayCanvas world,
 camera, navigation and future physics stay in the canonical Y-up coordinate system. Quality, both
@@ -105,7 +113,10 @@ Primary implementation references:
 - encrypted, linked, traversing, duplicate and over-limit archive entries fail closed;
 - project status is durable and reflects provider state without fabricated percentages;
 - ready artifacts are imported digest-bound and served from Mission Core same-origin URLs;
-- every published collision GLB is simplified to the configured budget and requires Draco;
+- the build always requests preview and streamed Gaussian outputs;
+- exactly one `Mesh_Files/*.ply` automatically selects repaired source-mesh collision plus Draco;
+- archives without that mesh remain visual-only and reach ready without a collision artifact;
+- generated Gaussian/voxel collision is never used as an implicit fallback;
 - edit changes project metadata; delete removes both the Mission Core project and terminal provider
   job;
 - a ready project mounts direct PlayCanvas Engine and loads Streamed SOG with preview fallback;

docs/22_MILESTONE_4_OBJECT_CENTRIC_RECORDED_REALTIME_CV.md

@@ -572,6 +572,16 @@ Exit:
 
 ### M4.9 — recorded-realtime release candidate and cutover
 
+The first complete integrated source-paced load gate passed on `2026-08-27`:
+the frozen RF-DETR world-state graph and unchanged CPU TGS candidate accounted
+for all `4,489` frames at `11.860865 FPS`, with joined output p95/p99 of
+`46.825886/63.94485 ms` and zero capacity drops. The immutable identities and
+resource envelope are recorded in
+[`experiments/perception/M49_TGS_INTEGRATED_GRAPH_ACCEPTANCE_2026-08-27.md`](../experiments/perception/M49_TGS_INTEGRATED_GRAPH_ACCEPTANCE_2026-08-27.md).
+This closes only the one-loop integrated load gate. Visual traversability,
+uncapped parity, repeated-loop soak, restart/recovery, navigation, actuation
+and production remain open.
+
 Execute on Worker 006 with the frozen RAVNOVES00 source:
 
 1. one full `1.0×` 448.723-second replay;

docs/23_TRAVERSABILITY_AND_STATIC_OBSTACLE_STACK_DECISION.md

@@ -33,8 +33,13 @@ The sequential evaluation order is:
 
 RF-DETR remains the semantic risk provider for people, children, animals,
 cars, trucks, motorcycles and bicycles. It does not decide the presence or
-shape of an unknown static obstacle. Native `800x600` fisheye input remains
-unchanged.
+shape of an unknown static obstacle. The admitted camera semantic layer owns
+surface/material hints such as low vegetation and woody vegetation. Native
+`800x600` fisheye input remains unchanged.
+
+There is no single globally primary sensor. The camera is primary for semantic
+meaning; LiDAR is primary for metric geometry and positive support. Neither is
+allowed to erase contradictory evidence from the other.
 
 ## Required product representation
 
@@ -55,12 +60,42 @@ robot-footprint collision cost + traversability
         +----> camera projection (diagnostic visualization only)
 
 camera RF-DETR ----> dynamic semantic risk hints ----------------+
+camera semantics --> material / vegetation hint -----------------+
 ```
 
 The canonical safety output is a costmap/elevation/occupancy product. Camera
 boxes may be derived for operator review, but a box must never be the source of
 occupied cells, clearance, passage width or a control action.
 
+## Camera/LiDAR arbitration and vegetation
+
+Tall grass demonstrates why a binary obstacle mask is insufficient. LiDAR may
+correctly report many non-ground returns while being unable to tell whether
+they came from compressible grass, a rigid trunk hidden inside the grass, or a
+drop-off with no positive support. Camera semantics can identify vegetation,
+but a camera label cannot prove that the ground below is load-bearing or free
+of a hidden rigid object.
+
+Mission Core therefore preserves at least these distinct states:
+
+| Evidence | Traversability state |
+| --- | --- |
+| Stable metric non-ground evidence without vegetation support | `RIGID_OR_UNKNOWN_OBSTACLE`; lethal or unknown according to support confidence |
+| Camera vegetation plus diffuse LiDAR returns, but no positive ground support below | `VEGETATION_UNKNOWN`; never silently free |
+| Camera low vegetation plus positive local ground support and no concentrated rigid return | `VEGETATION_POTENTIALLY_TRAVERSABLE`; high-cost terrain, not a wall |
+| Camera vegetation plus concentrated persistent vertical geometry | `VEGETATION_WITH_RIGID_GEOMETRY`; lethal |
+| Positive ground support without blocking geometry | `SUPPORTED_GROUND`; candidate traversable terrain |
+
+`VEGETATION_POTENTIALLY_TRAVERSABLE` is a representation decision, not an
+authorization to drive through it. The later robot profile must still declare
+ground clearance, footprint, traction, admissible slope, vegetation height and
+whether contact with vegetation is allowed. Until that profile exists, the
+planner may prefer a supported hard path and retain vegetation as a higher-cost
+or unknown alternative.
+
+The executable evidence contract is
+[`config/perception/m49-camera-lidar-traversability-v1.json`](../config/perception/m49-camera-lidar-traversability-v1.json).
+
 ## Candidate A — GSeg3D and Ground Consistency
 
 ### GSeg3D
@@ -78,6 +113,11 @@ publishes separate ground and obstacle point clouds and provides:
 Mission Core evaluates it as the first replacement for the current local
 height connected-component heuristic.
 
+The upstream GSeg3D documentation explicitly lists recall degradation in dense
+vegetation as a remaining challenge and semantic-aware refinement as future
+work. Candidate A can therefore qualify the metric ground/non-ground seam, but
+cannot alone close the vegetation product gate.
+
 ### Nav2 Ground Consistency
 
 [DFKI Ground Consistency](https://github.com/dfki-ric/nav2_ground_consistency_costmap_plugin)
@@ -239,6 +279,13 @@ failure.
 - Run upstream sample/demo data first to prove the unmodified components.
 - Measure component latency and memory before adding Mission Core adapters.
 
+T1 completed on `2026-08-26` with an upstream candidate rejection. The pinned
+sources build, but the Ground Consistency suite passes only `11/12` gtests;
+`testBoundsReflectFootprint` fails because the test fixture has no configured
+footprint. The sealed evidence and complete run ledger are recorded in
+[`experiments/perception/M49_T1_GSEG3D_UPSTREAM_QUALIFICATION_2026-08-26.md`](../experiments/perception/M49_T1_GSEG3D_UPSTREAM_QUALIFICATION_2026-08-26.md).
+Candidate A receives no replay or runtime authority in this revision set.
+
 ### T2 — Candidate A RAVNOVES00 replay
 
 - Feed the bounded causal local cloud with exact pose lineage.
@@ -246,6 +293,8 @@ failure.
 - Review the ten mandatory anchors and compute full-run stability/resource
   metrics.
 - Do not draw system camera boxes until the costmap result is sealed.
+- Replay the existing camera semantic vegetation evidence as an independent
+  arbitration input; do not let it clear unsupported or concentrated geometry.
 
 ### T3 — Candidate B challenger
 
@@ -255,6 +304,68 @@ failure.
 - Stop if Candidate A already passes and TRAVEL adds no measurable value that
   justifies GPL runtime implications.
 
+The upstream T3 qualification passed on `2026-08-26`: exact-source KITTI
+regression was bit-identical to the committed gold result, the standalone
+example produced all outputs and the ROS 2 Jazzy node was discoverable. See
+[`experiments/perception/M49_T3_TRAVEL_UPSTREAM_QUALIFICATION_2026-08-26.md`](../experiments/perception/M49_T3_TRAVEL_UPSTREAM_QUALIFICATION_2026-08-26.md).
+
+The direct RAVNOVES00 compatibility gate then rejected the combined TGS+AOS
+profile. TGS ground/non-ground membership was invariant under point-order
+reversal, but AOS failed all `20/20` order comparisons with labeled-point
+Jaccard as low as `0.469`; its `64 × 4,500`, `-24.8°…+2.0°` KITTI scan model is
+not the K1 registered-map-increment contract. The complete evidence is in
+[`experiments/perception/M49_T3_TRAVEL_RAVNOVES_COMPATIBILITY_2026-08-26.md`](../experiments/perception/M49_T3_TRAVEL_RAVNOVES_COMPATIBILITY_2026-08-26.md).
+Direct AOS admission is closed. TGS alone remains eligible for a bounded
+ground/non-ground adapter that retains the exact unreturned complement as
+unknown evidence. GPL runtime, visual quality and full-source realtime remain
+open gates.
+
+The gravity-aligned TGS-only adapter completed on the same ten anchors with all
+eligible input points accounted as ground, non-ground or rejected and no AOS
+invocation. It emits a deterministic `0.45 m`, `12 m` local evidence grid while
+preserving unobserved cells. See
+[`experiments/perception/M49_TGS_FAIL_CLOSED_EVIDENCE_2026-08-26.md`](../experiments/perception/M49_TGS_FAIL_CLOSED_EVIDENCE_2026-08-26.md).
+Representation/accounting is accepted for the visual gate; obstacle and
+traversability quality are not yet accepted. The sealed result is now published
+in the canonical LAB as
+`m49-tgs-fail-closed-9d5cb089bb5cc23f829acb47eda52eaa886db3b60f8fa7d57e02e27f642e837b`,
+linked to the current M4 v3 recorded timeline. Publication adds no navigation
+or actuation authority.
+
+The subsequent complete source-paced TGS-only shadow passed on `2026-08-26`.
+It accounted for all `4,489` timeline frames and all `63,646,163` eligible
+points, emitted the `561` missing-LiDAR frames as explicit all-cell
+`UNOBSERVED`, sustained `10.003945 FPS`, measured TGS `p95/p99` at
+`1.694/2.08973 ms`, completion-age `p99` at `41.42845548 ms`, and recorded zero
+capacity drops. The immutable result and canonical LAB acceptance are recorded
+in
+[`experiments/perception/M49_TGS_FULL_SHADOW_ACCEPTANCE_2026-08-26.md`](../experiments/perception/M49_TGS_FULL_SHADOW_ACCEPTANCE_2026-08-26.md).
+This accepts the CPU source-paced shadow and retains the candidate. It does not
+accept visual traversability quality, integrated graph performance, navigation
+or actuation.
+
+The product-integration load gate then passed on `2026-08-27`. The unchanged
+TGS candidate ran concurrently with the frozen RF-DETR world-state graph for
+all `4,489` frames at a requested `12 Hz`: every graph frame was delivered,
+every TGS frame was accounted and capacity drops remained zero. The joined
+output sustained `11.860865 FPS`, measured `46.825886/63.94485 ms` at p95/p99,
+and the CPU-only TGS stage measured `1.735/2.14019 ms` at p95/p99 with a
+`22.6 MiB` memory maximum. See
+[`experiments/perception/M49_TGS_INTEGRATED_GRAPH_ACCEPTANCE_2026-08-27.md`](../experiments/perception/M49_TGS_INTEGRATED_GRAPH_ACCEPTANCE_2026-08-27.md).
+Integrated runtime capacity is accepted; visual traversability, physical free
+space, navigation, actuation and production remain unaccepted.
+
+The canonical LAB playback data plane was then replaced on `2026-08-27` without
+changing the sealed TGS or reference-graph results. Dense M4 points and complete
+TGS numeric products are now loaded once as immutable digest-verified binary
+tracks; bounded JSON windows retain metadata only, and the existing Three.js
+scene updates persistent GPU buffers instead of remounting per frame. The exact
+products, loopback delivery measurements, seek/play browser acceptance and
+authority boundary are recorded in
+[`experiments/perception/M49_LAB_PLAYBACK_DATA_PLANE_ACCEPTANCE_2026-08-27.md`](../experiments/perception/M49_LAB_PLAYBACK_DATA_PLANE_ACCEPTANCE_2026-08-27.md).
+This is a playback and evidence-delivery acceptance, not a new perception or
+navigation-quality gate.
+
 ### T4 — Candidate C occupancy/ESDF probe
 
 - Run nvblox separately with RF-DETR disabled for the isolated probe.
@@ -272,7 +383,16 @@ failure.
 
 ## Immediate next action
 
-Resume T1 for Candidate A only after the Worker resource gate in the T0 report
-passes. No LOW-STEP tuning, new object model, camera resize, fisheye
+Keep the accepted integrated graph frozen and review the published full
+gravity-aligned TGS timeline in camera, metric 3D and costmap space. Preserve
+`GROUND_SUPPORT`, `NONGROUND_OCCUPIED`, `UNKNOWN_REJECTED` and `UNOBSERVED` as
+separate products; do not use AOS or infer free cells from absent
+republication. Integrated FPS, latency, resources and queue behavior are now
+accepted for the one-loop source-paced gate. If occupied evidence carpets the
+route, soft traversable vegetation or usable gaps, reject TGS without tuning it
+against the review evidence. Close and induce-test the Worker inference-runtime
+restart guard, then proceed to repeated-loop soak only if visual review also passes.
+Candidate A T2 replay remains blocked by the failed unmodified T1 gate. No
+LOW-STEP tuning, new object model, camera resize, fisheye
 rectification, manual dataset or parallel heavy Worker job is authorized by
 this decision.

docs/adr/0043-physical-safety-shadow-and-bounded-operator-visual.md

@@ -0,0 +1,186 @@
+# ADR 0043: Physical safety shadow and bounded operator visual
+
+Date: 2026-08-27
+Status: autonomous transport slice implemented; 0.15 m challenger and measured acceptance incomplete
+
+## Context
+
+Mission Core has accepted a source-paced RF-DETR-native plus TRAVEL TGS
+recorded shadow on RAVNOVES00. The retained TGS result uses a `0.45 m` cell,
+`12 m` radius and four explicit states. It is useful operator evidence but is
+not a planner-authoritative terrain provider. The integrated acceptance joins
+TGS and the reference graph as evidence; TGS does not modify graph state.
+
+The intended physical rover is not a lightweight laboratory fixture. The
+operator supplied the following planning facts, not yet independently measured:
+
+- body `1.0 x 0.8 x 0.4 m`;
+- ground clearance `0.15 m`;
+- mass approximately `100 kg`;
+- one nominal `500 W` motor per side;
+- nominal speed `0.2778 m/s` (`1 km/h`);
+- maximum operating speed `0.5556 m/s` (`2 km/h`).
+
+Controller, remote dead-man, braking behavior, physical E-stop, body/sensor
+extrinsics, center of gravity and negative-obstacle coverage are unavailable.
+Commands therefore remain disabled.
+
+The current full TGS playback pack is about `88 MiB`: approximately `9.6 MiB`
+states, `77 MiB` z-bounds and `1.1 MiB` frame metadata. Holding the same
+`12 m` disk for all `4,489` frames would scale to roughly `0.8 GiB` at `0.15 m`
+and `1.8 GiB` at `0.10 m`, before richer terrain features, video, semantics and
+renderer allocations. Full-session high-resolution browser preload is not an
+admitted design for the current 18 GiB MacBook host.
+
+## Decision
+
+Recorded LAB and realtime perception are different runtime contours. Worker
+006 is reserved for realtime perception. A new recorded LAB is built by a
+bounded sequential offline builder on the MacBook, or admits an already sealed
+immutable artifact. The offline build may take longer than source duration. It
+must not become a hidden Worker job. An opened LAB never depends on Worker 006.
+
+```text
+recorded LAB publication, Worker 006 absent
+recorded source -> local sequential offline build
+                -> seal immutable result + binary LOD tracks
+                                      |
+                                      v
+                           local/CAS artifact store
+                                      |
+                         Worker 006 remains absent
+                                      |
+                                      v
+                     canonical local backend, read-only
+                                      |
+                                      v
+                    MacBook LAB CAMERA + 3D + PLAN
+
+separate future realtime contour
+K1 -> Worker 006 -> live world-state/planner shadow
+```
+
+Opening, seeking, looping and visually inspecting a sealed LAB must perform
+zero requests to Worker 006. If the worker, its host, Docker or the network path
+to it is unavailable, a locally present sealed result opens unchanged. If a
+manifest-declared local object is absent or corrupt, LAB fails with an explicit
+artifact error; it does not start compute, scan worker results or silently
+rebuild evidence. This preserves ADR 0033.
+
+Publishing a new LAB also performs zero Worker requests. Slow local preparation
+is acceptable, but it is explicit and bounded: build first, seal second, open
+third. Historical LAB artifacts that were originally computed on Worker 006
+remain valid after sealing because replay depends only on their immutable
+artifacts; they do not justify a Worker dependency for new LABs.
+
+Visual performance may never change a safety state, erase unknown space or
+reduce the resolution used by the safety consumer. Conversely, the MacBook does
+not need every cell of every high-resolution frame resident at once in order to
+provide a complete operator explanation.
+
+The retained `0.45 m` M49T5 profile and sealed result remain immutable. A new
+physical-safety challenger may evaluate `0.15 m` and `0.10 m` cells without
+rewriting that baseline. The first candidate resolution is `0.15 m`; `0.10 m`
+is admitted only if LiDAR density improves the evidence. Worker compute
+acceptance and autonomous LAB viewer acceptance are measured separately.
+
+The operator transport uses binary typed arrays. It must not serialize one JSON
+object per cell or expand binary frames into nested JavaScript objects before
+updating GPU instances. Recorded high-resolution inspection reads only sealed
+local binary chunks and active-frame detail, not a full-session high-resolution
+preload.
+
+The proposed spatial chunk is `32` source frames (`3.2 s` at `10 Hz`). Before
+the spatial scene declares itself ready, it may preload the first two chunks,
+or `6.4 s`, from the local artifact. The browser retains at most three chunks
+(`9.6 s`), normally previous/current/next, and prefetches one forward chunk.
+A backward seek loads the target and next chunk from the same sealed artifact.
+This bounded startup delay is preferable to either Worker dependency or a
+multi-gigabyte browser preload.
+
+## Implemented autonomous transport slice
+
+The first executable transport slice is now present without creating a new LAB
+surface or transport clock:
+
+- `m49_physical_safety_playback.py` is a local, sequential, filesystem-only
+  sealer. It accepts an already sealed source, verifies its declared hashes,
+  and writes immutable binary chunks atomically. It contains no Worker client,
+  job submission or network path.
+- `m49_physical_safety_playback_api.py` exposes only the configured local
+  artifact root. Manifest, shared centers, frame catalog and every requested
+  chunk are hash-verified. Corruption returns an explicit artifact failure.
+- `m49PhysicalSafetyPlayback.ts` rejects non-canonical URLs, verifies byte
+  length and SHA-256 in the browser, prebuffers two chunks, retains no more than
+  three and loads target plus next on seek.
+- the existing M49 evidence composition resolves this transport by exact
+  `source_result_id`. If no chunked derivative has been published, it may still
+  read the old sealed local full pack; neither path uses Worker 006.
+
+A real transport canary was generated from the accepted immutable `0.45 m`
+M49T5 result without recomputing TGS or changing that source result. The canary
+identity is
+`m49-physical-safety-playback-0d0e41a995a902a4701935a79655d93f2f1898806f8fa82ebbd207129f111d69`.
+It contains all `4,489` frames and `2,244` cells in `141` chunks. A normal
+32-frame chunk is `646,300` bytes; two startup chunks are about `1.23 MiB` and
+three spatial chunks are about `1.85 MiB`, plus the shared centers and frame
+catalog. This is the transport canary only. It is not a `0.15 m` safety result
+and no upsampled baseline is presented as new evidence.
+
+The `0.15 m` shape, fail-closed missing-sample rule, bounded seek behavior and
+zero-Worker URL policy are covered with synthetic contract fixtures. A real
+`0.15 m` challenger still requires the local sequential terrain computation
+and a separately sealed result.
+
+The visual uses explicit LOD:
+
+- `0-4 m`: `0.15 m` near-field cells;
+- `4-8 m`: `0.30 m` explanatory cells;
+- `8-12 m`: `0.45 m` context cells;
+- pause/anchor inspection: full available active-frame resolution.
+
+LOD changes only presentation. The sealed result retains the full candidate
+evidence needed to reproduce its decisions; a future realtime worker separately
+retains the full live safety grid across the configured safety radius.
+
+The metric Three.js scene retains instanced meshes and all evidence layers. It
+renders on evidence, camera interaction, resize or layer changes. It does not
+run a permanent animation loop while idle. The scene exposes render-pass time,
+draw calls, triangles, cell count and pixel ratio in the operator surface.
+
+## Acceptance budget
+
+Acceptance is measured on the named 14-inch 2023 MacBook Pro with 18 GiB RAM,
+with recorded video, semantic overlay and TGS 3D/PLAN evidence available:
+
+- source pace: `10 Hz` without evidence loss;
+- main-thread frame preparation p95 at most `10 ms`;
+- CPU-side WebGL render submission p95 target `16.7 ms`, hard maximum
+  `33.3 ms`; GPU completion requires a separate supported timer query;
+- evidence-to-visible p95 at most `100 ms`;
+- incremental visual resident memory at most `256 MiB`;
+- post-warmup growth at most `32 MiB` over a ten-minute soak;
+- zero browser long tasks above `50 ms` during source-paced playback;
+- zero WebGL context losses;
+- zero Worker 006 requests while opening, seeking or playing a LAB;
+- zero Worker 006 requests while building a new recorded LAB;
+- the sealed LAB opens with Worker 006 unavailable;
+- idle metric scene performs no continuous render loop.
+
+These are proposed thresholds until a canonical browser run emits a sealed
+performance ledger. Passing them does not grant navigation, safety or actuation
+authority.
+
+## Consequences
+
+- The operator keeps the full explanatory visual instead of receiving a
+  stripped-down safety UI.
+- High-resolution terrain work does not turn the MacBook into a second
+  perception worker.
+- Historical LAB remains usable during Worker maintenance, Docker failure or
+  loss of the Worker network path.
+- Evidence identity and safety decisions remain independent of display LOD.
+- The next implementation boundary is a packed, chunked terrain contract plus
+  footprint-aware states; no physical connection or command path is introduced.
+- Physical authority remains blocked by controller/E-stop, measured braking,
+  vehicle geometry, sensor extrinsics and negative-obstacle coverage.

experiments/perception/M49_LAB_PLAYBACK_DATA_PLANE_ACCEPTANCE_2026-08-27.md

@@ -0,0 +1,100 @@
+# M4.9 LAB sealed playback data plane — 2026-08-27
+
+Status: **accepted for local recorded-evidence playback on the canonical Mission
+Core service**. This acceptance covers playback delivery, timeline interaction
+and renderer lifecycle. It does not change TGS visual-quality, navigation,
+actuation or production authority.
+
+## Decision
+
+The LAB no longer transports source point arrays or the full TGS costmap as
+per-frame JSON. The canonical playback data plane now downloads sealed numeric
+tracks once, verifies their declared SHA-256 identities, retains them in the
+browser and derives the current frame from immutable offsets. JSON remains only
+for bounded frame metadata that is not a dense numeric point track.
+
+The renderer keeps one Three.js scene mounted. Point `BufferGeometry`,
+classified-cell `InstancedMesh` objects and semantic-mask presentation are
+updated in place. A qualified previous semantic mask may remain visible while
+the exact next mask is loading; it is marked stale and is never presented as
+the new exact frame. Rapid seeks cancel obsolete metadata windows.
+
+This removes the observed frame-by-frame JSON parsing and scene-remount path.
+It also disables dynamic gzip for local numeric tracks and compact frame
+metadata. During diagnosis, on-the-fly compression of the M4 point product took
+approximately `14.4 s` and placed the backend in zlib work. The accepted
+delivery uses `Content-Encoding: identity`, immutable cache headers and the
+sealed digest instead.
+
+## Sealed playback products
+
+| Product | Shape / count | Bytes | Delivery |
+| --- | ---: | ---: | --- |
+| M4 map points | `9,207,270 × 3`, float32 | `110,487,240` | one raw binary track + `4,490` immutable offsets |
+| M49 cell centers | `2,244 × 2`, float32 NPY | `18,080` | one immutable track |
+| M49 states | `4,489 × 2,244`, uint8 NPY | `10,073,444` | one immutable track |
+| M49 z-bounds | `4,489 × 2,244 × 2`, float32 NPY | `80,586,656` | one immutable track |
+| M49 frame ledger | `4,489` NDJSON records | `1,178,262` | one immutable track |
+| M49 total | four tracks | `91,856,442` | preloaded once |
+
+M4 points remain in the exact registered-map point index space. A lightweight
+M4 metadata window declares body transforms, camera proposals, obstacles and
+point accounting without duplicating point arrays. The browser hydrates a
+qualified current increment from the retained binary track. M49 states and
+z-bounds are addressed directly by `source_sequence`; all `2,244` cells remain
+explicit for every one of the `4,489` frames.
+
+## Measured local delivery
+
+One hot local-loopback measurement on the canonical `127.0.0.1:8000` service:
+
+| Request | Bytes | Wall time |
+| --- | ---: | ---: |
+| M4 point track | `110,487,240` | `0.162 s` |
+| M49 centers | `18,080` | `0.009 s` |
+| M49 states | `10,073,444` | `0.046 s` |
+| M49 z-bounds | `80,586,656` | `0.256 s` |
+| M49 frame ledger | `1,178,262` | `0.007 s` |
+| M4 lightweight metadata, frames `1104–1127` | `891,543` | `0.160 s` |
+
+These loopback values describe delivery only; they are not a network SLA. The
+UI separately exposes exact download percentage and MiB progress while tracks
+are transferred and verified.
+
+## Browser acceptance
+
+Production assets were opened through the canonical service. An arbitrary seek
+from the beginning to `110.330 s` produced exact frame `1105`, its E47 semantic
+mask, qualified source cloud, bounded local SLAM surface and the same-frame TGS
+costmap. The qualified scene was visible within the `1.2 s` observation wait.
+
+Playback then advanced through frame `1141` across multiple 24-frame metadata
+windows. The final DOM and visual evidence agreed on frame `1141`; the semantic
+mask was frame `1141`; `map-gravity-local · all eligible points accounted` was
+visible; no spatial buffering state or missing-linked-cloud warning remained.
+The browser console contained zero errors.
+
+Frames without a qualified body frame still render honestly as TGS cell-only.
+They do not reuse a source cloud from another frame and do not invent geometry.
+
+## Runtime and validation
+
+- Canonical service: exactly one listener on `127.0.0.1:8000`; no listener on
+  `8765`.
+- Backend: Ruff passed; `11` focused M49/M4 tests passed.
+- Frontend: `28` focused playback, semantic and architecture tests passed;
+  TypeScript typecheck and production build passed.
+- Delivery commits: `bf76304` (`sealed spatial playback tracks`) and `7aeea4e`
+  (`retained spatial scenes during replay`).
+- GAUSS and PlayCanvas changes were excluded from both commits and from this
+  acceptance.
+
+## Authority boundary
+
+Accepted: local recorded-evidence delivery, exact sealed identity, bounded
+metadata windows, fast seek behavior, retained renderer state and synchronized
+camera/semantic/spatial presentation.
+
+Not accepted: visual traversability quality, physical free space, a vehicle
+envelope, collision clearance, navigation, actuation, live-stream transport or
+production soak. Those gates remain separate from the LAB playback data plane.

experiments/perception/M49_T0_TRAVERSABILITY_PREFLIGHT_2026-08-26.md

@@ -61,6 +61,7 @@ This T0 check does not reopen or alter that evidence.
 
 | Order | Candidate | Exact revision | Admission role |
 | ---: | --- | --- | --- |
+| 1 | DFKI GSeg3D core | `116f510485ea5b4707e2b476958d34a5a067f647` | Pinned core dependency |
 | 1 | DFKI GSeg3D | `5c5ba6f5ca0d682db2d59b2ad2f6a317ee938b95` | Primary terrain-relative ground/non-ground provider |
 | 1 | DFKI Nav2 Ground Consistency | `41cec620efba6c370dccfc59a6ec1134775ff48a` | Primary temporal costmap evidence layer |
 | 2 | TRAVEL | `95dc2fbd66a343efd9060c45a5711b6307a950a4` | Class-free challenger |
@@ -86,6 +87,28 @@ Candidate A may start only when all of the following are true:
 4. canonical Mission Core Triton is healthy and is not stopped or replaced;
 5. the candidate uses a new `ndc-` isolated build/runtime contour.
 
+## Resource incident localized before T1
+
+The apparent continued Worker pressure was not caused by an active GAUSS job.
+A PowerShell process from an earlier Mission Core diagnostic had been orphaned
+after loading and recursively serializing the complete nested M4.8R3
+`result.json`. At discovery it held approximately `74,912.6 MiB` working set
+and `193,275.8 MiB` private memory. The pressure killed
+`ndc-mission-core-triton` with exit code `137`.
+
+The orphaned diagnostic process was terminated at
+`2026-08-26T15:17:39Z`. Free physical memory subsequently recovered to
+`83,374,248 KiB`. The existing canonical Triton container was started without
+replacement or rebuild and returned to `healthy` at
+`2026-08-26T15:18:10Z`.
+
+Future Worker inspection must not pass a complete nested replay result through
+PowerShell `ConvertFrom-Json` followed by deep `ConvertTo-Json`. Diagnostics
+must select bounded scalar fields before serialization and must have a wall
+timeout plus process cleanup. A separate compute-runtime change is required to
+give canonical Triton a declared restart policy; this report does not mutate
+the Worker Compose source.
+
 ## Next command boundary
 
 The next authorized action is T1 Candidate A upstream qualification: build the

experiments/perception/M49_T1_GSEG3D_UPSTREAM_QUALIFICATION_2026-08-26.md

@@ -0,0 +1,93 @@
+# M4.9 T1 GSeg3D upstream qualification — 2026-08-26
+
+Status: **rejected as an unmodified Candidate A stack**; RAVNOVES00 replay and
+all navigation or actuation authority remain disabled
+
+## Decision
+
+The pinned GSeg3D, ROS 2 wrapper and Nav2 Ground Consistency sources build in
+an isolated Worker 006 container. The unmodified Ground Consistency test suite
+does not pass: `11/12` gtests pass and
+`GroundConsistencyLayerTest.testBoundsReflectFootprint` fails.
+
+The failure is inside the pinned upstream candidate rather than the Mission
+Core replay adapter. The layer logs that no footprint is configured, skips
+footprint clearing and leaves `max_x/max_y` at `0`, while its own test requires
+both bounds to be at least `1.0`.
+
+Mission Core therefore does not call this revision set plug-and-play ready,
+does not patch upstream silently and does not start Candidate A RAVNOVES00
+replay. This result does not prove that the GSeg3D algorithm is unusable. It
+proves that the exact unmodified stack frozen for T1 fails its admission gate.
+
+## Frozen identity
+
+| Component | Revision |
+| --- | --- |
+| DFKI `ground_segmentation` | `116f510485ea5b4707e2b476958d34a5a067f647` |
+| DFKI `ground_segmentation_ros2` | `5c5ba6f5ca0d682db2d59b2ad2f6a317ee938b95` |
+| DFKI `nav2_ground_consistency_costmap_plugin` | `41cec620efba6c370dccfc59a6ec1134775ff48a` |
+| Final Mission Core qualification source | `316f0d7f8582f47cdd2a05e7e7404cfe33a40d6d` |
+| Final deterministic Worker artifact | `f681ba58aa3c69b7cd3572fda4abc1c4303bf73d62262fb1c534e220f7136801` |
+| Worker image | `sha256:57a481faa9ad50d69a5aae537ed24c1770867413b38e91399060c5dd448b3471` |
+
+The final artifact was built twice locally with identical SHA-256, copied to a
+new immutable Worker release directory, verified again before extraction and
+run through the interactive Worker executor. The image size is
+`1,172,862,313` bytes.
+
+## Run ledger
+
+| Run | Outcome | Interpretation |
+| --- | --- | --- |
+| `upstream-001` | pre-build failure | Non-interactive Docker credential helper; no candidate result |
+| `upstream-002` | pre-build failure | Isolated Docker config was still evaluated in the non-interactive SSH context; no candidate result |
+| `upstream-003` | harness failure | Image built; strict shell nounset conflicted with the standard ROS 2 setup hook |
+| `upstream-004` | harness failure | Test command omitted the merged-install layout used during the image build |
+| `upstream-005` | **candidate test failure** | Harness reached the pinned upstream gtests; `11/12` passed and footprint-bound test failed |
+
+The two harness failures were corrected in new content-addressed artifacts and
+were never presented as candidate failures. No identical failed artifact was
+retried.
+
+## Sealed final evidence
+
+Worker output root:
+
+`D:\NDC_MISSIONCORE\runtime\results\m49-t1-gseg3d\upstream-005`
+
+| File | Bytes | SHA-256 |
+| --- | ---: | --- |
+| `result.json` | `640` | `6ff189d7c160fe98063672a848ced205199e7bd3ed3de568b1638b7e325848ac` |
+| `qualification.log` | `37,813` | `ffafad5cc09ec3d46302111ed0fe9ec6c02d0dbd982bc7307c28b44db071abba` |
+| `resource.txt` | `772` | `5955b1eb01a7f587efaeb3f9d547b80e44c1d6651f4b2c9906b47d11e8a5f894` |
+
+The GSeg3D core checkout exposes no CTest tests in the selected build, so its
+`ctest` step reports `No tests were found` and returns success. The decisive
+executable evidence is the Ground Consistency suite, which does contain twelve
+tests and returns one failure.
+
+## Resource and isolation result
+
+- Worker 006 remained the only execution host.
+- The candidate build/test used CPU and did not request CUDA, Vulkan or a GPU
+  lease.
+- The concurrent approximately `47–51%` GPU utilization and roughly `9 GiB`
+  VRAM belonged to `sentinel-frigate`, not GAUSS or this qualification.
+- Canonical `ndc-mission-core-triton` remained `running/healthy` after the
+  final run.
+- Temporary candidate containers and the one-shot scheduled task were removed
+  after evidence capture.
+- No Mission Core source evidence, GAUSS process, Frigate process or canonical
+  Triton image was stopped, rebuilt or replaced.
+
+## Authority boundary and next action
+
+Candidate A has no RAVNOVES00 quality, realtime, navigation, collision-safety
+or actuation authority. T2 is blocked for this exact unmodified revision set.
+
+The next sequential action is an isolated upstream qualification of Candidate
+B, TRAVEL, at its frozen revision. Its GPL-3.0 license limits it to evaluation
+until a separate distribution decision is made. Camera/LiDAR vegetation
+arbitration remains an independent product requirement and is not waived by
+any terrain candidate.

experiments/perception/M49_T3_TRAVEL_RAVNOVES_COMPATIBILITY_2026-08-26.md

@@ -0,0 +1,148 @@
+# M4.9 T3 TRAVEL compatibility on RAVNOVES00 — 2026-08-26
+
+Status: **direct TRAVEL TGS+AOS profile rejected**; TGS retained for a bounded
+ground/non-ground adapter probe; visual quality, realtime integration,
+navigation and actuation remain disabled
+
+## Decision
+
+The unmodified TRAVEL KITTI profile cannot consume the RAVNOVES00 `lio_pcl`
+representation as a complete ground-and-instance provider. Ground segmentation
+is deterministic and fast on the tested inputs, but the above-ground object
+segmentation changes materially when the exact same points are presented in
+reverse order. The fixed KITTI vertical-angle profile also does not describe
+the K1 registered-map increments.
+
+Mission Core therefore rejects direct admission of TRAVEL AOS. It retains the
+unmodified TGS stage for the next bounded adapter test because its ground and
+non-ground partitions were bit-set invariant across all order comparisons. The
+adapter must preserve TGS-rejected points as explicit unknown evidence rather
+than silently dropping them. No AOS cluster, camera box, free cell or command
+receives authority from this run.
+
+## Frozen identity
+
+| Item | Identity |
+| --- | --- |
+| TRAVEL source | `95dc2fbd66a343efd9060c45a5711b6307a950a4` |
+| Mission Core probe source | `28d52972370097d3f3e376e17c9fdb388b0e7ebf` |
+| Deterministic Worker artifact | `c726018a62f602ff1f51432fbdf4bba67aa969735f9798a55472b079eff8a0fb` |
+| TRAVEL image | `sha256:7b412020f4d8392d1d1ed1b33beadc44140f0ea8f781e62dd69796042334300f` |
+| CPU preparation/analysis image | `sha256:ceb13548617e4bd3f619766bfdff00af3fa5160946b367828da6d2233dcdcba0` |
+| RAVNOVES00 LiDAR pack | `0685d24219d8236caf8b7f1685e93f6d6b59e7fd015a768d88a92bbe8b154944` |
+| Compatibility profile | [`config/perception/m49-travel-ravnoves-compatibility-v1.json`](../../config/perception/m49-travel-ravnoves-compatibility-v1.json) |
+
+The release artifact was built from a clean committed revision, copied into a
+new Worker release root and verified before extraction. The run used the two
+already-qualified images by exact image ID. It performed no image build,
+network access, CUDA/Vulkan request or GPU lease.
+
+## Input contract
+
+The probe used the ten operator-reviewed anchors `171`, `306`, `368`, `402`,
+`450`, `509`, `525`, `744`, `1122` and `1856` with two causal representations:
+
+1. `current_increment`: the exact registered map increment transformed into
+   the current LiDAR frame;
+2. `causal_rolling_1s`: current and past increments from the preceding one
+   second, bounded to the accepted `12 m` local-map radius and transformed into
+   the current LiDAR frame.
+
+No future frame was used. Missing republication was not interpreted as free
+space. The source pack has no retained intensity, ring/channel, per-point time
+or native ray model; intensity was zero-filled only to satisfy the XYZI input
+ABI.
+
+Each representation was run in source order and exact reverse order. This
+produced `10 × 2 × 2 = 40` isolated CPU invocations.
+
+## Result
+
+### TGS ground/non-ground stage
+
+| Measurement | Current increment | Causal rolling 1 s |
+| --- | ---: | ---: |
+| Eligible points over ten source-order anchors | `20,468` | `144,872` |
+| Ground + non-ground points returned | `20,337` | `144,871` |
+| Unreturned eligible points | `131` | `1` |
+| Anchors with complete accounting | `7/10` | `9/10` |
+| Ground multiset order Jaccard, minimum | `1.000` | `1.000` |
+| Non-ground multiset order Jaccard, minimum | `1.000` | `1.000` |
+| TGS stage p50 | `0.269 ms` | `1.775 ms` |
+| TGS stage p95 | `0.329 ms` | `4.379 ms` |
+| TGS stage maximum | `0.583 ms` | `4.807 ms` |
+
+TGS classification is order-invariant on all twenty source/reverse
+comparisons. The missing points are not random process loss. TRAVEL internally
+routes below-plane or filtered points into its outlier cloud, while the public
+example and ROS wrapper publish only `ground`, `nonground` and AOS `labeled`.
+Frame `171` accounts for `129` of the `131` missing current-increment points;
+they lie approximately `2.59–5.09 m` from the sensor. A safety adapter must
+retain the exact input complement as `UNKNOWN_REJECTED`, never as free.
+
+### AOS above-ground object stage
+
+| Measurement | Result |
+| --- | ---: |
+| Accepted source/reverse comparisons | `0/20` |
+| Labeled-point multiset Jaccard, minimum | `0.469` |
+| Labeled-point multiset Jaccard, median | `0.663` |
+| Labeled-point multiset Jaccard, maximum | `0.963` |
+| Current-increment non-ground points retained as labeled, median | `20.6%` |
+| Causal-rolling non-ground points retained as labeled, median | `38.4%` |
+
+This is a representation incompatibility, not a threshold-quality judgment.
+AOS projects points into a `64 × 4,500` spherical range matrix and keeps the
+first point that reaches an occupied angular bin. A registered-map increment
+does not carry an upstream ring order, so reversing an otherwise identical
+array changes which points survive projection and changes cluster membership.
+
+The pinned KITTI profile declares a vertical range of `-24.8°…+2.0°`. Only
+`26.7%` of current-increment non-ground points and `34.4%` of causal-rolling
+non-ground points lie inside that declared range. The pinned implementation's
+row lookup also has no valid end-of-range branch for an angle above the maximum.
+Changing the angle table and inventing a pseudo-ring layout would create a new
+K1-specific algorithm profile; it is not accepted as the ready upstream system
+tested here.
+
+### Wrapper and resource envelope
+
+- Forty isolated invocations completed in `6.654335 s`, including container
+  startup, input preparation and analysis.
+- Per-invocation wall p50 was `50 ms`; p95 was `70.5 ms`. These include
+  process startup and are not the candidate-stage realtime measurement.
+- Maximum measured process RSS was `18,140 KiB`.
+- Canonical `ndc-mission-core-triton` retained the same container ID and stayed
+  `running/healthy`.
+- The one-shot scheduled task and all three exact candidate container names
+  were removed. Worker free memory after cleanup was approximately `52.82 GiB`.
+- Frigate, GAUSS/PlayCanvas, the GPU allocation and the canonical port `8000`
+  were not modified.
+
+## Sealed evidence
+
+Worker root:
+
+`D:\NDC_MISSIONCORE\runtime\results\m49-t3-travel-ravnoves\ravnoves-compat-001`
+
+| File | Bytes | SHA-256 |
+| --- | ---: | --- |
+| `result.json` | `26,810` | `ff0b27f469cccad258c53ae07cb04ad00e696d82b32021c4f1f38ba7fa39d66a` |
+| `worker-summary.json` | `1,007` | `007eb400f6a12c950e81a631dc1c7824bc10c0024327fb9965f5689d3b4c6a22` |
+| `inputs/input-manifest.json` | `22,967` | `1239f2517c5dfcb46827cfd8f370e642a70eac3a83e39d6b769564321e2ff930` |
+| `travel-timing.tsv` | `1,606` | `959b82372dbb197525071f030a4be1d6f3ff848e32b62b4b47b4f2bf2fa9d3d7` |
+
+## Next gate
+
+Build a TGS-only recorded adapter with four explicit outputs:
+
+1. positive `GROUND_SUPPORT` from TGS ground;
+2. `NONGROUND_OCCUPIED` from every TGS non-ground point, without AOS;
+3. `UNKNOWN_REJECTED` from the exact eligible-input complement;
+4. `UNOBSERVED` for cells with no positive support, never free by omission.
+
+The first review remains the ten anchors in a 3D occupancy/costmap view. Camera
+projection is diagnostic only and follows after the metric output is sealed.
+The adapter is admitted only if compact obstacles and the passages between them
+remain explicit without large vegetation/curb walls. GPL distribution and
+full-source realtime remain separate gates.

experiments/perception/M49_T3_TRAVEL_UPSTREAM_QUALIFICATION_2026-08-26.md

@@ -0,0 +1,99 @@
+# M4.9 T3 TRAVEL upstream qualification — 2026-08-26
+
+Status: **upstream candidate qualified**; RAVNOVES00 quality, realtime,
+navigation and actuation remain disabled
+
+## Decision
+
+The frozen TRAVEL revision builds and passes its official C++ regression path
+on Worker 006. The run also passes the standalone example smoke and produces a
+discoverable ROS 2 Jazzy `travel_node`.
+
+This accepts TRAVEL for the next recorded-replay compatibility gate. It does
+not yet accept the RAVNOVES00 `lio_pcl` representation, Mission Core latency,
+vegetation handling, obstacle quality, navigation or control.
+
+## Frozen identity
+
+| Item | Identity |
+| --- | --- |
+| TRAVEL source | `95dc2fbd66a343efd9060c45a5711b6307a950a4` |
+| Mission Core qualification source | `67578f4ce16316dbaa562cba466ca9ab820fa380` |
+| Deterministic Worker artifact | `01cb4954de748d2e23567734a5dc5043ebfa7d1596313c3ddba792fa94ac3cb7` |
+| Worker image | `sha256:7b412020f4d8392d1d1ed1b33beadc44140f0ea8f781e62dd69796042334300f` |
+| Image size | `1,030,088,960` bytes |
+| KITTI fixture | `1,994,688` bytes; SHA-256 `bf272996d5b6d25cc5589e1089137cb20a98b63bd4823a7fea5631b359f6d68c` |
+| Committed gold result | SHA-256 `8aaacaa57d17a8a2f043c3ea0a0c134d36a3c50da2385f2364ca4eff53ea9b9f` |
+
+The release artifact was built twice with identical SHA-256, copied into a new
+Worker release directory and verified again before extraction. The run used
+the exact upstream revision and did not modify its source.
+
+## Upstream result
+
+- `124,668` KITTI points loaded.
+- Official C++ regression output was bit-identical to the committed gold dump.
+- Ground segmentation produced `70,175` ground and `54,462` non-ground points.
+- Above-ground clustering received `54,462` points, projected `47,311`,
+  labeled `45,792` and produced `185` canonical clusters in the regression
+  representation.
+- The standalone example wrote non-empty ground, non-ground and labeled
+  outputs.
+- ROS 2 Jazzy discovered `travel_ros travel_node` from the isolated merged
+  install.
+
+The example prints `The # of point clouds and # of labels are not same`
+because the official smoke fixture intentionally contains a Velodyne frame but
+no optional KITTI labels directory. The example returns success and writes all
+three required outputs; the official upstream CI uses the same unlabeled smoke
+shape. This diagnostic is recorded rather than hidden.
+
+## Timing and memory
+
+| Measurement | Observation |
+| --- | ---: |
+| Worker image build | `290.528115 s` |
+| Worker qualification wrapper | `1.667882 s` |
+| Sealed in-container qualification section | `617 ms` |
+| C++ bit-regression wall time | `0.04 s` |
+| C++ bit-regression maximum RSS | `39,504 KiB` |
+| Reported TGS time | `11.168 ms` |
+| Reported AOS range-map / clustering / post stages | `3 / 6 / 1 ms` |
+
+These numbers are promising but are not Mission Core realtime acceptance. They
+cover one native KITTI scan and include neither RAVNOVES00 causal support
+assembly nor pose transforms, camera arbitration, costmap publication or full
+graph load.
+
+## Sealed evidence
+
+Worker output root:
+
+`D:\NDC_MISSIONCORE\runtime\results\m49-t3-travel\upstream-001`
+
+| File | Bytes | SHA-256 |
+| --- | ---: | --- |
+| `result.json` | `674` | `d3fb582b96f907c92156767bf0186fa565897f593bcfd89943ad6a639c0aed38` |
+| `worker-summary.json` | `824` | `baedc1b292691be50c5ef70169df1ff43f99f0e122f527a557a599a906a90d28` |
+| `qualification.log` | `3,557` | `7dc5b8ecb1cb8ad91fc08edbfcc6ab818e4524e271b0524bb02914cf5f96d933` |
+| `resource.txt` | `893` | `dc5638295170cb1edd9c16e2c4ae9b53a89b22b014d27a847c127d6b9afa541c` |
+
+After capture, the candidate container and one-shot scheduled task were absent.
+Canonical `ndc-mission-core-triton` remained `running/healthy`. The build and
+qualification requested no CUDA, Vulkan or GPU lease; the concurrent Frigate
+GPU allocation was not modified.
+
+## Compatibility gate before RAVNOVES00 replay
+
+TRAVEL's accepted KITTI profile assumes an organized spinning-LiDAR geometry
+(`64` vertical scans, `4,500` horizontal bins and a fixed vertical angle
+range). RAVNOVES00 supplies registered vendor-map increments rather than one
+conventional complete raw scan per video frame. The next step must therefore
+prove that a bounded causal body-frame representation preserves the angular
+and temporal information TRAVEL requires. Missing returns may not be invented,
+treated as free, or filled from future frames.
+
+TRAVEL remains GPL-3.0-or-later and is evaluation-only until a separate
+distribution decision. Camera semantics remain primary for material meaning;
+LiDAR/TRAVEL remains metric evidence and cannot independently declare tall
+vegetation traversable.

experiments/perception/M49_TGS_FAIL_CLOSED_EVIDENCE_2026-08-26.md

@@ -0,0 +1,200 @@
+# M4.9 gravity-aligned TGS fail-closed evidence — 2026-08-26
+
+Status: **evidence adapter and canonical LAB publication completed**; visual
+obstacle/traversability quality, full-source realtime, navigation and actuation
+remain disabled
+
+## Decision
+
+The TGS-only adapter now produces a complete, fail-closed metric evidence pack
+for the ten RAVNOVES00 review anchors. It preserves the SLAM map gravity axis,
+applies only a translation into the current local origin, never invokes AOS and
+accounts for every point inside TRAVEL's declared `1–80 m` processing range.
+
+This closes the representation and accounting gate. It does not accept visual
+quality. Several anchors still contain a high non-ground share, so the next
+gate is a 3D/costmap review of the sealed output rather than threshold tuning or
+camera boxes. The metric output is now available in the canonical LAB on port
+`8000` as an operator-review surface; publication does not upgrade it to an
+accepted terrain provider.
+
+## Frozen identity
+
+| Item | Identity |
+| --- | --- |
+| TRAVEL source | `95dc2fbd66a343efd9060c45a5711b6307a950a4` |
+| Mission Core source | `941fb8961693c7e1e122921842d547d9fe9bb94f` |
+| Deterministic Worker artifact | `f52ea1995e973872ef4050de03fcef1aafa58a278d16506b05b8378102fd5781` |
+| TRAVEL image | `sha256:7b412020f4d8392d1d1ed1b33beadc44140f0ea8f781e62dd69796042334300f` |
+| CPU preparation/analysis image | `sha256:ceb13548617e4bd3f619766bfdff00af3fa5160946b367828da6d2233dcdcba0` |
+| RAVNOVES00 LiDAR pack | `0685d24219d8236caf8b7f1685e93f6d6b59e7fd015a768d88a92bbe8b154944` |
+| Executable profile | [`config/perception/m49-tgs-fail-closed-evidence-v1.json`](../../config/perception/m49-tgs-fail-closed-evidence-v1.json) |
+
+The artifact used a new Worker release root and exact image IDs. The Worker
+compiled a bounded TGS-only entrypoint against the pinned upstream headers; no
+TRAVEL source file was changed. The entrypoint calls `TravelGroundSeg` and does
+not construct or invoke `ObjectCluster`.
+
+## Representation
+
+Two source profiles were prepared for anchors `171`, `306`, `368`, `402`,
+`450`, `509`, `525`, `744`, `1122` and `1856`:
+
+- `current_increment`: exact current registered map increment;
+- `causal_rolling_1s`: current and preceding one second of positive map
+  support, bounded to `12 m`, with no future frame.
+
+For both profiles the current map position is subtracted, but the map axes are
+not rotated into the handheld LiDAR orientation. This preserves the verified
+SLAM gravity axis required by a terrain model. The previous sensor-frame probe
+remains valid only for rejecting AOS's scan/ring assumptions; it is not used as
+the TGS quality result.
+
+The evidence pack has four explicit cell states:
+
+| State | Meaning |
+| --- | --- |
+| `GROUND_SUPPORT` | positive TGS ground evidence |
+| `NONGROUND_OCCUPIED` | every TGS non-ground point; no instance filter |
+| `UNKNOWN_REJECTED` | exact in-range input complement not returned by TGS |
+| `UNOBSERVED` | no positive evidence in the bounded local cell; never free by omission |
+
+The local review grid is `0.45 m` with a `12 m` radius. State priority is
+non-ground, rejected, ground, then unobserved. This is evidence precedence, not
+a robot-footprint collision policy.
+
+## Anchor result
+
+Primary profile: `causal_rolling_1s`.
+
+| Anchor | Ground points | Non-ground points | Rejected points | Ground cells | Non-ground cells | Unobserved cells |
+| ---: | ---: | ---: | ---: | ---: | ---: | ---: |
+| `171` | `8,304` | `18,479` | `0` | `495` | `413` | `1,336` |
+| `306` | `5,646` | `13,821` | `0` | `694` | `265` | `1,285` |
+| `368` | `4,323` | `2,482` | `0` | `600` | `196` | `1,448` |
+| `402` | `5,782` | `3,190` | `0` | `641` | `260` | `1,343` |
+| `450` | `6,933` | `5,058` | `0` | `451` | `304` | `1,489` |
+| `509` | `5,941` | `11,460` | `0` | `481` | `287` | `1,476` |
+| `525` | `5,797` | `14,441` | `0` | `473` | `270` | `1,501` |
+| `744` | `2,900` | `16,754` | `3` | `388` | `324` | `1,532` |
+| `1122` | `2,422` | `3,403` | `0` | `599` | `228` | `1,417` |
+| `1856` | `4,967` | `2,759` | `0` | `693` | `181` | `1,370` |
+
+All eligible points across both profiles and all twenty anchor/profile records
+are represented as ground, non-ground or rejected. A rejected point can share
+a cell with higher-priority non-ground evidence; therefore the point count may
+be non-zero while the final rejected-cell count is zero.
+
+The gravity-aligned result is materially different from the diagnostic
+sensor-frame run. At anchor `171`, rolling ground evidence increases from `626`
+to `8,304` points. This confirms that TGS quality must not be judged in the
+handheld sensor orientation.
+
+The result is still not visually accepted. Anchors `171`, `509`, `525` and
+especially `744` retain large non-ground populations. The 3D review must decide
+whether these are correct buildings/vegetation/curbs outside the passage,
+terrain-model overclassification inside the passage, or both.
+
+## Timing and resources
+
+| Measurement | Current increment | Causal rolling 1 s |
+| --- | ---: | ---: |
+| TGS p50 | `0.275 ms` | `1.378 ms` |
+| TGS maximum | `0.327 ms` | `3.807 ms` |
+
+- End-to-end Worker wrapper: `12.085689 s`, including source verification,
+  preparation, one C++ compile, twenty process starts, evidence packing and
+  analysis.
+- Per-process wall p50: `20 ms`; p95: `40 ms`.
+- Maximum process RSS: `9,292 KiB`.
+- No GPU flag, CUDA/Vulkan context, image build or network access was used.
+- Canonical Triton retained the same container ID and stayed
+  `running/healthy`.
+- All exact candidate containers and the one-shot scheduled task were removed;
+  Worker free memory after cleanup was approximately `52.945 GiB`.
+- Frigate, GAUSS/PlayCanvas and port `8000` were not modified.
+
+## Sealed evidence
+
+Worker root:
+
+`D:\NDC_MISSIONCORE\runtime\results\m49-tgs-fail-closed\gravity-anchors-001`
+
+| File | Bytes | SHA-256 |
+| --- | ---: | --- |
+| `evidence/result.json` | `9,137` | `0cfefcfa7e5e5ba015442446a830c7d0c0c93ac40b0b1e8888686590184c666a` |
+| `evidence/evidence.npz` | `1,599,830` | `eaf1cd94cf7d3956e6bfebe4038ea18e6824fb6df5806e4c3b2d5b1c838f3b7b` |
+| `worker-summary.json` | `975` | `ad8b2a23a46dd0c8039b07136fdb6e6cfe579fe6d4bbf3696ea2a16089174fbe` |
+| `inputs/input-manifest.json` | `13,357` | `7a22e61606e1fa9ab61d47417f941b590a68b29e4529d4c290992ce7eb89a642` |
+| `tgs-timing.tsv` | `638` | `a8f439996205286335ac392b37f51b54056d04e9cb07e03648c52c1e8f2f6ae8` |
+
+## Canonical LAB publication
+
+- LAB result:
+  `m49-tgs-fail-closed-9d5cb089bb5cc23f829acb47eda52eaa886db3b60f8fa7d57e02e27f642e837b`;
+- linked current visual timeline:
+  `m4-threat-replay-2a953c5f27f2a5b1dddc5c658c1de2c323d7796084a099c024987a1da03aa324`;
+- source LiDAR pack SHA-256 remains
+  `0685d24219d8236caf8b7f1685e93f6d6b59e7fd015a768d88a92bbe8b154944`;
+- the earlier immutable seal beginning `200b57cc` is superseded only because it
+  linked the retired M4 v2 visual profile, whose timeline is incompatible with
+  the current v3 API. No Worker evidence byte or TGS result was changed.
+
+The LAB reuses the canonical recorded-realtime camera and spatial instrument.
+It exposes the ten anchors, the full classified TGS point set, the four-state
+costmap, `VIDEO/CAMERA`, `3D/PLAN`, independent point/costmap visibility and
+exact per-anchor counts. Camera proposal boxes, AOS clusters, future frames and
+navigation authority are absent. Browser acceptance confirmed that every
+operator control is independent and that a loading anchor cannot temporarily
+display unrelated M4 obstacle statistics.
+
+The published TGS coordinates are intentionally sensor-origin
+`map-gravity-local`: the ground is therefore approximately `-1.25 m` below the
+current LiDAR. The canonical LAB presentation converts these immutable values
+to the scene's body-ground origin by adding the rig's sealed
+`nominal_sensor_height_m = 1.25` after the gravity-to-body rotation. The same
+offset is applied to point heights and costmap z-bounds; x/y evidence and the
+sealed Worker result remain unchanged. A regression check across all ten
+anchors puts the median displayed ground points in `-0.299…+0.135 m` and the
+median ground-cell centres in `-0.308…+0.237 m`. On anchor `1856`, where the
+presentation defect was reported, those medians are `+0.004 m` and `-0.063 m`.
+The residual variation is measured terrain/pose variation, not the previous
+systematic `1.25 m` lift.
+
+## Preliminary corridor triage
+
+The published evidence was also projected into the frozen virtual body
+corridor (`-0.5…8.0 m` longitudinal, `±0.5 m` lateral) without changing the
+sealed result. The table counts costmap cell centres inside that corridor:
+
+| Anchor | Current occupied | Rolling occupied | Rolling unobserved | Preliminary reading |
+| ---: | ---: | ---: | ---: | --- |
+| `171` | `0` | `8` | `6` | unresolved rolling band at `5.63…7.90 m` |
+| `306` | `0` | `0` | `12` | no corridor obstruction |
+| `368` | `1` | `1` | `16` | compact occupied support at `6.34 m` |
+| `402` | `0` | `1` | `10` | compact occupied support at `1.89 m` |
+| `450` | `0` | `0` | `8` | no corridor obstruction |
+| `509` | `0` | `0` | `7` | no corridor obstruction |
+| `525` | `0` | `0` | `9` | no corridor obstruction |
+| `744` | `0` | `3` | `25` | weakly observed; requires explicit review |
+| `1122` | `0` | `2` | `24` | rolling recovers compact obstacle support |
+| `1856` | `1` | `1` | `13` | compact occupied support at `4.14 m` |
+
+This is a diagnostic, not ground truth. It shows why the causal window cannot
+simply be removed: anchor `1122` is entirely unobserved in the current-only
+corridor but gains ground and occupied evidence in rolling. It also identifies
+the opposing risk: at anchor `171`, rolling adds eight occupied cells where the
+camera/PLAN comparison appears to show an open route apart from side geometry.
+Anchor `744` remains too weakly observed for acceptance. These two anchors keep
+the visual gate open even though the remaining frames do not show a continuous
+occupied carpet.
+
+## Next gate
+
+Review the published ten anchors in both metric `3D` and `PLAN`. The operator
+must focus on the mandatory obstacle/gap cases and the large non-ground
+populations listed above. Accept TGS for a full recorded-source shadow only if
+red non-ground evidence remains on real geometry without carpeting the visible
+route, soft traversable vegetation or usable gaps. Otherwise reject this
+candidate without tuning thresholds against these ten anchors. Camera
+projection follows only if the metric evidence is accepted.

experiments/perception/M49_TGS_FULL_SHADOW_ACCEPTANCE_2026-08-26.md

@@ -0,0 +1,105 @@
+# M4.9T5 full source-paced TRAVEL TGS shadow — 2026-08-26
+
+Status: **recorded source-paced CPU shadow accepted; candidate retained**.
+Visual traversability quality, full-graph performance, navigation and actuation
+remain unaccepted.
+
+## Decision
+
+The gravity-aligned TGS-only candidate completed the entire `RAVNOVES00`
+recorded timeline on Worker 006. Every source timeline frame and every eligible
+LiDAR point is represented. No frame was dropped for capacity, AOS was never
+invoked, no GPU was requested and the canonical Triton container remained
+healthy with the same identity.
+
+This accepts TGS as a bounded CPU shadow candidate. It does not yet make TGS a
+navigation authority or prove that its occupied/ground interpretation is
+correct for vegetation, terrain, gaps or the future vehicle envelope.
+
+## Frozen identity
+
+| Item | Identity |
+| --- | --- |
+| LAB result | `m49-tgs-full-shadow-ef98de7db7596d48e8c8c0549ce68e6704ee03e87c8c4bcf1e3e748b7ccb032e` |
+| Worker run | `Worker 006 / ravnoves00-full-001` |
+| Mission Core revision used by Worker | `40c850b167dda366d8aa45d828520168affaf9fd` |
+| Deterministic Worker artifact | `5e0ea16c7a5cc760463836718b0cd8b0006ffc4b202e5f706a20a86ef2f912ab` |
+| Source pack SHA-256 | `0685d24219d8236caf8b7f1685e93f6d6b59e7fd015a768d88a92bbe8b154944` |
+| TGS config SHA-256 | `c2e07010aaee78259d36c057962d6bfb885349251ff7356d867e5813e632881c` |
+| Linked visual result | `m4-threat-replay-2a953c5f27f2a5b1dddc5c658c1de2c323d7796084a099c024987a1da03aa324` |
+| Linked semantic result | `e47-semantic-slam-f8c53ba12e9719856195890c7dcd2ba6c114434674159f948064368012e6b3bc` |
+
+The profile is a `0.45 m`, `12 m` radius, `1 s` causal rolling
+`map-gravity-local` costmap. The four states remain separate:
+`GROUND_SUPPORT`, `NONGROUND_OCCUPIED`, `UNKNOWN_REJECTED` and `UNOBSERVED`.
+
+## Full-run result
+
+| Measurement | Result |
+| --- | ---: |
+| Timeline | `4,489 / 4,489` frames |
+| LiDAR available / missing | `3,928 / 561` |
+| Recorded duration / effective rate | `448.623 s / 10.003945 FPS` |
+| Eligible points | `63,646,163` |
+| Ground / non-ground / rejected | `16,579,467 / 47,046,815 / 19,881` |
+| Unaccounted points | `0` |
+| TGS p50 / p95 / p99 / max | `1.190 / 1.694 / 2.08973 / 9.106 ms` |
+| Completion age p50 / p95 / p99 / max | `17.920792 / 29.140775 / 41.428455 / 659.980295 ms` |
+| Capacity drops | `0` |
+| Worker wrapper wall time | `569.401084 s` |
+
+All formal source-paced, point-accounting and capacity gates passed. The
+completion-age maximum is retained as an outlier; the accepted gate is the
+measured `p99 = 41.43 ms`, not the maximum.
+
+## Fail-closed behavior
+
+The `561` timeline frames without a LiDAR sample are not removed, interpolated
+or copied from the preceding frame. Each is emitted as a complete `2,244`-cell
+costmap with all states explicitly `UNOBSERVED`, zero occupied cells and zero
+source points. This preserves chronology without inventing free space.
+
+## Canonical LAB publication and UI acceptance
+
+The immutable result is published on the canonical Mission Core service at
+port `8000`. The LAB reuses the recorded camera timeline and exposes independent
+`SOURCE POINTS`, `LOCAL SLAM`, `TGS COSTMAP`, `SEMANTICS`, `3D` and `PLAN`
+controls. The semantic mask is the exact E47 full-route archive bound to the
+same M4 camera result; it remains diagnostic and does not change TGS states.
+
+The first implementation fetched one large JSON frame at a time. Browser QA
+showed that this was only intermittently exact at `1×`. The published viewer
+therefore uses immutable chunks of `24` spatial frames and prefetches the next
+chunk. A final `1×` browser acceptance sampled twenty consecutive positions
+across chunk boundaries: all twenty displayed the exact TGS frame and none
+showed the loading placeholder. A real missing-LiDAR frame was separately
+accepted with `0 source points`, `2,244 unobserved`, `0 occupied` and no retained
+previous cloud.
+
+A follow-up playback acceptance fixed a UI lifecycle defect that remounted the
+Three.js scene while the next TGS frame crossed the React buffer boundary. The
+scene now retains the last sealed classified frame until the exact next frame
+arrives, so orbit controls and the operator-selected view survive continuous
+playback. Twelve consecutive `250 ms` playback samples kept one mounted 3D
+canvas, a visible bounded `LOCAL SLAM` surface and the synchronized E47 video
+mask. Pausing is no longer required to rotate, pan or zoom the 3D view.
+
+## Sealed evidence
+
+| File | Bytes | SHA-256 |
+| --- | ---: | --- |
+| `costmap-states.npy` | `10,073,444` | `4173f8b6b743755d6d6cbd863c433fe44853974bdd4898002e08574a65783a1a` |
+| `costmap-z-bounds-m.npy` | `80,586,656` | `f8d68b5ca09860ef857a22e15e114bbeabde32492d5c821ee59dfa62ae40373a` |
+| `frames.ndjson` | `1,178,262` | `878e20806d55cdc1fa16692397e11a0e56af760a83c173c8fc73319a39b0e779` |
+| `worker-summary.json` | `1,076` | `487d4be6f3d724bca647aa2e48ba89e7ffd0c78f1bfc5e7e5a01e1db82379dc7` |
+
+## Next gate
+
+Attach this unchanged TGS stage to the realtime world-state graph in shadow
+mode alongside the frozen camera semantic-risk provider. Measure complete-graph
+FPS, end-to-end latency, CPU/GPU/VRAM and queue drops against the accepted
+baseline. Keep navigation authority off. In parallel, review the full camera +
+source cloud + TGS timeline for false occupied carpets, missed compact
+obstacles, vegetation and usable gaps. Only the combination of acceptable
+visual behavior and acceptable integrated-graph regression can promote the
+candidate beyond shadow.

experiments/perception/M49_TGS_INTEGRATED_GRAPH_ACCEPTANCE_2026-08-27.md

@@ -0,0 +1,123 @@
+# M4.9T5 integrated TGS + reference graph shadow — 2026-08-27
+
+Status: **complete source-paced integrated shadow accepted**. Integrated
+runtime capacity is accepted for the frozen RAVNOVES00 graph. Visual
+traversability quality, physical free space, navigation, actuation and
+production remain unaccepted.
+
+## Decision
+
+The unchanged gravity-aligned TGS candidate and the frozen RF-DETR
+world-state graph completed the same `4,489`-frame RAVNOVES00 timeline from a
+shared `12 Hz` start barrier on Worker 006. Every graph frame was delivered,
+every TGS frame was accounted, all queues remained bounded and no capacity
+drop or supersession occurred.
+
+The integrated graph sustained `11.860865 FPS`, compared with the frozen
+reference result at `11.79902 FPS`. TGS added `1.735 ms` at p95 and used at
+most `22.6 MiB` of container memory; it did not add a GPU model. The exact
+per-frame join of graph and TGS outputs measured `46.825886 ms` at p95 and
+`63.94485 ms` at p99. This accepts the runtime integration gate without
+changing any navigation or safety authority.
+
+## Frozen identity
+
+| Item | Identity |
+| --- | --- |
+| Integrated result | `m49-tgs-integrated-graph-shadow-75e48fd8acf0246be16613e087fcf26fe909f7834718d217c74785a57f494b24` |
+| Worker run | `Worker 006 / ravnoves00-integrated-12fps-003` |
+| Mission Core revision used by Worker | `f153d671d316ea7b2200c0edcb80206d896ffcd5` |
+| Deterministic Worker artifact | `1818ea57887db819e9d986713b050bd15eae1a43ee4af70c5b8b5d39f4cd8522` |
+| Worker wheel | `b9414a1f2f1998543aeb63824d3cdfe55bbc6e4eecc3146d65962ebc7da86b8b` |
+| TGS native binary | `2c3b4c7e6b66d19d2e32ee3ef867fa8c14073be29441bcd19fe565d9632c6538` |
+| Integrated profile | `b61e018b2d04eec58802e2d4186ce7a3dd3a15b254db106b57b609e903eeef80` |
+| Frozen graph config | `1db6f6fa0561d819505a5e4f62fe256dab6fe4d9da6b4f1a9a5073bfcf772c90` |
+| Frozen TGS profile | `c2e07010aaee78259d36c057962d6bfb885349251ff7356d867e5813e632881c` |
+| Linked accepted TGS result | `m49-tgs-full-shadow-ef98de7db7596d48e8c8c0549ce68e6704ee03e87c8c4bcf1e3e748b7ccb032e` |
+
+The release was built from `git archive` of the declared revision. Uncommitted
+GAUSS and PlayCanvas files were neither packaged nor changed by the run.
+
+## Full-run result
+
+| Measurement | Result |
+| --- | ---: |
+| Graph admitted / delivered | `4,489 / 4,489` |
+| TGS timeline accounted | `4,489 / 4,489` |
+| LiDAR available | `3,928` |
+| Delivery ratio | `1.0` |
+| Capacity drops / supersessions / failures | `0 / 0 / 0` |
+| Effective world-state rate | `11.860865 FPS` |
+| Frozen reference rate | `11.79902 FPS` |
+| World-state completion p50 / p95 / p99 / max | `28.437492 / 46.696395 / 63.94485 / 170.202343 ms` |
+| Joined graph+TGS output p50 / p95 / p99 / max | `28.57367 / 46.825886 / 63.94485 / 170.202343 ms` |
+| TGS stage p50 / p95 / p99 / max | `1.186 / 1.735 / 2.14019 / 6.151 ms` |
+| TGS completion p50 / p95 / p99 / max | `17.605461 / 31.771832 / 42.957350 / 70.851977 ms` |
+| Queue high-water marks | `2` for every bounded stage |
+| Worker wrapper wall time | `544.887447 s` |
+
+All nineteen formal identity, accounting, throughput, latency, telemetry,
+capacity and false-authority checks passed.
+
+## Resource envelope
+
+| Resource | Result |
+| --- | ---: |
+| GPU utilization mean / p95 / max | `43.114973 / 53 / 57 %` |
+| GPU memory mean / p95 / max | `9,737.144 / 9,744 / 9,751 MiB` |
+| GPU power p95 / max | `149.342 / 153.81 W` |
+| TGS CPU mean / p95 / max | `3.474793 / 5.27 / 6.04 %` |
+| TGS memory mean / p95 / max | `20.571818 / 21.84 / 22.6 MiB` |
+| Graph container memory max | `1,769.472 MiB` |
+| Triton container memory max | `582.9 MiB` |
+
+The measured GPU envelope belongs to the already accepted reference graph.
+TGS is a CPU-only stage and does not request CUDA, Vulkan or a second model.
+
+## LAB publication boundary
+
+No third visual viewer is created for this gate. The TGS cells, source points,
+camera frames and semantic archive are byte-identical to the already published
+`m49-tgs-full-shadow` LAB. This run proves concurrent runtime behavior, so its
+new evidence is the immutable timing, queue and resource report above. Visual
+quality review continues in the existing full-shadow LAB.
+
+## Runtime recovery finding
+
+Preflight found the canonical `ndc-mission-core-triton` container stopped after
+the Docker runtime restarted. Docker reported exit code `255`, no OOM event and
+Compose configured `restart: "no"`. The accepted run began only after the exact
+same container was started and healthy; its container ID remained
+`4232fb040062a8384809e73612baa92b343ddcb60f00c23e7091eb4909959223`
+throughout the run.
+
+This is a deployment-lifecycle defect, not a perception overload result. The
+container must use a durable restart policy and an unhealthy-state watchdog;
+changing the TGS or detector graph cannot fix it.
+
+The live container was subsequently changed in place to
+`restart: unless-stopped`. Docker confirmed the service remained `running` and
+`healthy` with the same container ID, so applying the mitigation caused no
+inference restart. This protects the current container from process and Docker
+daemon restarts. The versioned Worker Compose source still declares
+`restart: "no"`; closing that source-level drift and inducing a controlled
+recovery remain a separate deployment gate.
+
+## Sealed compact evidence
+
+| File | SHA-256 |
+| --- | --- |
+| `result.json` | `bfc881aa943d46582a248b6024a413c3c4b3a6959fa4a674f6ec33d658fdcbdf` |
+| `graph-result.json` | `784d27b908137843f6adf08d267576a74b0676f5f98226923399ae59f538b78a` |
+| `tgs-result.json` | `c0245744892b66c7f24af3cd7ea9c8cd8d543114fffa70e32d8d5fef81054716` |
+| `worker-summary.json` | `c449246d14fb927b6490bcf657950b354f101fd3eb4b296bc0f6dd8543aafe10` |
+
+## Next gate
+
+Keep this integrated graph frozen. Complete the independent visual
+traversability review in the existing TGS LAB, concentrating on vegetation,
+compact obstacles, false occupied carpets, usable gaps and missing-LiDAR
+behavior. In parallel, close the Worker inference-runtime restart policy and
+verify an induced stop/recovery without changing result identity. Only after
+both gates pass may the candidate advance to repeated-loop soak and recovery
+acceptance; navigation and actuation remain off.

experiments/perception/run_m48s_reference_graph_shadow_worker.py

@@ -67,6 +67,27 @@ AUTHORITY: Final = {
 LOAD_PURPOSES: Final = ("production-rate", "reserve-gate", "limit-discovery")
 
 
+def wait_for_shared_start(
+    *,
+    ready_file: Path,
+    start_file: Path,
+    timeout_seconds: float,
+) -> None:
+    """Join an external source-admission barrier after local warmup is complete."""
+
+    if timeout_seconds <= 0:
+        raise RuntimeError("shared-start timeout must be positive")
+    if ready_file.exists():
+        raise RuntimeError("shared-start ready file already exists")
+    ready_file.parent.mkdir(mode=0o700, parents=True, exist_ok=True)
+    ready_file.write_text("ready\n", encoding="utf-8")
+    deadline = time.monotonic() + timeout_seconds
+    while not start_file.is_file():
+        if time.monotonic() >= deadline:
+            raise RuntimeError("shared-start barrier timed out")
+        time.sleep(0.01)
+
+
 class GpuTelemetry:
     def __init__(self, interval_seconds: float) -> None:
         self.interval_seconds = interval_seconds
@@ -394,6 +415,9 @@ def main() -> int:
     parser.add_argument("--runtime-artifact-sha256", required=True)
     parser.add_argument("--runner-sha256", required=True)
     parser.add_argument("--telemetry-interval-seconds", type=float, default=1.0)
+    parser.add_argument("--shared-start-ready-file", type=Path)
+    parser.add_argument("--shared-start-file", type=Path)
+    parser.add_argument("--shared-start-timeout-seconds", type=float, default=600.0)
     parser.add_argument("--output", type=Path, required=True)
     parser.add_argument("--progress", type=Path, required=True)
     parser.add_argument("--frame-ledger", type=Path, required=True)
@@ -404,6 +428,17 @@ def main() -> int:
         raise RuntimeError("maximum frame count must be positive")
     if arguments.telemetry_interval_seconds <= 0:
         raise RuntimeError("telemetry interval must be positive")
+    shared_start_requested = (
+        arguments.shared_start_ready_file is not None or arguments.shared_start_file is not None
+    )
+    if shared_start_requested and (
+        arguments.shared_start_ready_file is None or arguments.shared_start_file is None
+    ):
+        raise RuntimeError("shared-start ready and start files must be configured together")
+    if shared_start_requested and arguments.loops != 1:
+        raise RuntimeError("shared-start barrier requires exactly one loop")
+    if arguments.shared_start_timeout_seconds <= 0:
+        raise RuntimeError("shared-start timeout must be positive")
     if arguments.source_rate_hz is not None and (
         not np.isfinite(arguments.source_rate_hz) or arguments.source_rate_hz <= 0
     ):
@@ -506,6 +541,12 @@ def main() -> int:
                     )
                 detector_warmup = runtime.warm_up_detector()
                 source_prefetch = runtime.prepare_source()
+                if shared_start_requested:
+                    wait_for_shared_start(
+                        ready_file=arguments.shared_start_ready_file,
+                        start_file=arguments.shared_start_file,
+                        timeout_seconds=arguments.shared_start_timeout_seconds,
+                    )
                 gc_policy = CyclicGcHotLoopPolicy()
                 with gc_policy:
                     runtime.mark_source_admission_started()

experiments/perception/seal_m49_tgs_fail_closed.py

@@ -0,0 +1,36 @@
+#!/usr/bin/env python3
+"""Publish the verified Worker TGS pack as immutable Mission Core LAB evidence."""
+
+from __future__ import annotations
+
+import argparse
+from pathlib import Path
+
+from k1link.laboratory.m49_tgs_fail_closed import (
+    M49TgsFailClosedError,
+    seal_m49_tgs_fail_closed,
+)
+
+
+def main() -> int:
+    parser = argparse.ArgumentParser()
+    parser.add_argument("--source-root", type=Path, required=True)
+    parser.add_argument("--destination-root", type=Path, required=True)
+    parser.add_argument("--profile", type=Path, required=True)
+    parser.add_argument("--linked-visual-result-id", required=True)
+    arguments = parser.parse_args()
+    try:
+        result = seal_m49_tgs_fail_closed(
+            source_root=arguments.source_root,
+            destination_root=arguments.destination_root,
+            profile_path=arguments.profile,
+            linked_visual_result_id=arguments.linked_visual_result_id,
+        )
+    except (M49TgsFailClosedError, OSError, ValueError) as exc:
+        parser.error(str(exc))
+    print(result.result_id)
+    return 0
+
+
+if __name__ == "__main__":
+    raise SystemExit(main())

experiments/perception/worker/Invoke-LabV1VegetationAssetAdmission.ps1

@@ -0,0 +1,492 @@
+[CmdletBinding()]
+param(
+    [ValidateSet("Start", "Run", "Status", "Manifest", "VerifyModels", "Verify")]
+    [string]$Mode = "Status",
+
+    [string]$Root = "D:\NDC_MISSIONCORE\datasets\vegetation-v1\observed-2026-08-27",
+
+    [int]$DownloadLimitMiB = 30
+)
+
+Set-StrictMode -Version Latest
+$ErrorActionPreference = "Stop"
+
+$canonicalPrefix = "D:\NDC_MISSIONCORE\datasets\"
+if (-not $Root.StartsWith($canonicalPrefix, [System.StringComparison]::OrdinalIgnoreCase)) {
+    throw "LAB V1 assets must stay under $canonicalPrefix"
+}
+if ($DownloadLimitMiB -lt 1 -or $DownloadLimitMiB -gt 100) {
+    throw "DownloadLimitMiB must be between 1 and 100"
+}
+
+$stateRoot = "D:\NDC_MISSIONCORE\datasets\state\lab-v1-vegetation"
+$toolRoot = "D:\NDC_MISSIONCORE\datasets\tooling\aria2-1.37.0"
+$ariaArchive = Join-Path $toolRoot "aria2-1.37.0-win-64bit-build1.zip"
+$ariaExecutable = Join-Path $toolRoot "aria2-1.37.0-win-64bit-build1\aria2c.exe"
+$ariaUrl = "https://github.com/aria2/aria2/releases/download/release-1.37.0/aria2-1.37.0-win-64bit-build1.zip"
+$taskName = "MissionCore-LabV1-VegetationAssets"
+$stagePath = Join-Path $stateRoot "download-stage.json"
+$assetManifestPath = Join-Path $stateRoot "asset-manifest.json"
+$verificationPath = Join-Path $stateRoot "verification.jsonl"
+$bulkVerificationPath = Join-Path $stateRoot "bulk-verification.json"
+$gooseInputPath = Join-Path $stateRoot "goose-and-models.input.txt"
+$wildScenesInputPath = Join-Path $stateRoot "wildscenes-61541v003.input.txt"
+$orfdTorrentPath = Join-Path $stateRoot "orfd-ec5ccf4b8e49271ee3b63660383facf43063f2f2.torrent"
+$wildScenesDataFileCount = 76525
+$wildScenesMetadataFileCount = 4
+$wildScenesInputEntryCount = $wildScenesDataFileCount + $wildScenesMetadataFileCount
+$orfdTorrentExpectedBytes = 4918171
+$orfdTorrentSha256 = "b886dc76d169c924d619ff07baf8a0cd2364ca6f9c4b36d8777f2971fd78bc92"
+$orfdPublishedFileCount = 70983
+$orfdPublishedSizeBytes = 45941056780
+$wildScenesPublishedSizeBytes = 196358841020
+
+$assets = @(
+    [pscustomobject]@{ group = "models"; id = "goose-ppliteseg-category-512"; url = "https://goose-dataset.de/models/ppliteseg_category_512.pth"; relative_path = "models\goose\ppliteseg_category_512.pth"; expected_bytes = $null },
+    [pscustomobject]@{ group = "models"; id = "goose-ppliteseg-class-512"; url = "https://goose-dataset.de/models/ppliteseg_class_512.pth"; relative_path = "models\goose\ppliteseg_class_512.pth"; expected_bytes = $null },
+    [pscustomobject]@{ group = "models"; id = "goose-ddrnet-category-512"; url = "https://goose-dataset.de/models/ddrnet_category_512.pth"; relative_path = "models\goose\ddrnet_category_512.pth"; expected_bytes = $null },
+    [pscustomobject]@{ group = "models"; id = "goose-ddrnet-class-512"; url = "https://goose-dataset.de/models/ddrnet_class_512.pth"; relative_path = "models\goose\ddrnet_class_512.pth"; expected_bytes = $null },
+    [pscustomobject]@{ group = "models"; id = "rellis-hrnet-ocr"; url = "https://drive.usercontent.google.com/download?id=137Lfw6HcDmdEReu_R7Q_I-zmRvvqFys3&export=download&confirm=t"; relative_path = "models\rellis-3d\hrnet_best.zip"; expected_bytes = 788183119 },
+    [pscustomobject]@{ group = "models"; id = "rellis-gscnn"; url = "https://drive.usercontent.google.com/download?id=1Z8OlstkdzDrY9k-yxMQmVB192ac8j4MD&export=download&confirm=t"; relative_path = "models\rellis-3d\gscnn_best.pth"; expected_bytes = 1098515419 },
+    [pscustomobject]@{ group = "models"; id = "rellis-salsanext"; url = "https://drive.usercontent.google.com/download?id=1DxuzlnFKnU8EpSuODRywJUrJlieUUheg&export=download&confirm=t"; relative_path = "models\rellis-3d\salsanext_best.zip"; expected_bytes = 164312336 },
+    [pscustomobject]@{ group = "models"; id = "rellis-kpconv"; url = "https://drive.usercontent.google.com/download?id=1Exrt4yWDhgucx_vr08hAuXTcaLUcpXXm&export=download&confirm=t"; relative_path = "models\rellis-3d\kpconv_best.zip"; expected_bytes = 1522250650 },
+    [pscustomobject]@{ group = "models"; id = "wildscenes-models"; url = "https://www.dropbox.com/scl/fo/1za8yjfj0dl8fsddbl9ns/AAZ4xc2PkwcPc14sjY_GhVA?rlkey=3yqq5lpiicjtqqau4cljl66y5&st=fwhd1l86&dl=1"; relative_path = "models\wildscenes\WildScenes-Models.zip"; expected_bytes = 8637507567 },
+    [pscustomobject]@{ group = "goose"; id = "goose-2d-train"; url = "https://goose-dataset.de/storage/goose_2d_train.zip"; relative_path = "goose-2d\archives\goose_2d_train.zip"; expected_bytes = $null },
+    [pscustomobject]@{ group = "goose"; id = "goose-2d-val"; url = "https://goose-dataset.de/storage/goose_2d_val.zip"; relative_path = "goose-2d\archives\goose_2d_val.zip"; expected_bytes = $null },
+    [pscustomobject]@{ group = "goose"; id = "goose-2d-test"; url = "https://goose-dataset.de/storage/goose_2d_test.zip"; relative_path = "goose-2d\archives\goose_2d_test.zip"; expected_bytes = $null },
+    [pscustomobject]@{ group = "goose"; id = "goose-3d-train"; url = "https://goose-dataset.de/storage/goose_3d_train.zip"; relative_path = "goose-3d\archives\goose_3d_train.zip"; expected_bytes = $null },
+    [pscustomobject]@{ group = "goose"; id = "goose-3d-test"; url = "https://goose-dataset.de/storage/goose_3d_test.zip"; relative_path = "goose-3d\archives\goose_3d_test.zip"; expected_bytes = $null },
+    [pscustomobject]@{ group = "goose"; id = "goose-ex-2d-train"; url = "https://goose-dataset.de/storage/gooseEx_2d_train.zip"; relative_path = "goose-ex-2d\archives\gooseEx_2d_train.zip"; expected_bytes = $null },
+    [pscustomobject]@{ group = "goose"; id = "goose-ex-2d-val"; url = "https://goose-dataset.de/storage/gooseEx_2d_val.zip"; relative_path = "goose-ex-2d\archives\gooseEx_2d_val.zip"; expected_bytes = $null },
+    [pscustomobject]@{ group = "goose"; id = "goose-ex-2d-test"; url = "https://goose-dataset.de/storage/gooseEx_2d_test.zip"; relative_path = "goose-ex-2d\archives\gooseEx_2d_test.zip"; expected_bytes = $null },
+    [pscustomobject]@{ group = "goose"; id = "goose-ex-3d-train"; url = "https://goose-dataset.de/storage/gooseEx_3d_train.zip"; relative_path = "goose-ex-3d\archives\gooseEx_3d_train.zip"; expected_bytes = $null },
+    [pscustomobject]@{ group = "goose"; id = "goose-ex-3d-val"; url = "https://goose-dataset.de/storage/gooseEx_3d_val.zip"; relative_path = "goose-ex-3d\archives\gooseEx_3d_val.zip"; expected_bytes = $null },
+    [pscustomobject]@{ group = "goose"; id = "goose-ex-3d-test"; url = "https://goose-dataset.de/storage/gooseEx_3d_test.zip"; relative_path = "goose-ex-3d\archives\gooseEx_3d_test.zip"; expected_bytes = $null }
+)
+
+function Write-JsonFile {
+    param([string]$Path, [object]$Value)
+    $parent = Split-Path -Parent $Path
+    New-Item -ItemType Directory -Force -Path $parent | Out-Null
+    $json = $Value | ConvertTo-Json -Depth 12
+    [System.IO.File]::WriteAllText($Path, $json + [Environment]::NewLine, [System.Text.UTF8Encoding]::new($false))
+}
+
+function Set-Stage {
+    param([string]$Stage, [string]$Status, [string]$Detail)
+    Write-JsonFile -Path $stagePath -Value ([ordered]@{
+        schema_version = "missioncore.lab-v1-asset-download-stage/v1"
+        observed_at_utc = [DateTime]::UtcNow.ToString("o")
+        worker_id = "worker-006"
+        stage = $Stage
+        status = $Status
+        detail = $Detail
+    })
+}
+
+function Invoke-CurlDownload {
+    param([string]$Url, [string]$Destination)
+    New-Item -ItemType Directory -Force -Path (Split-Path -Parent $Destination) | Out-Null
+    & curl.exe --location --fail --retry 8 --retry-all-errors --continue-at - --output $Destination $Url
+    if ($LASTEXITCODE -ne 0) {
+        throw "curl failed for $Url with exit code $LASTEXITCODE"
+    }
+}
+
+function Test-AriaInputList {
+    param([string]$Path, [int]$ExpectedEntries)
+    if (-not (Test-Path -LiteralPath $Path -PathType Leaf)) {
+        return $false
+    }
+
+    $urlCount = 0
+    $dirCount = 0
+    foreach ($line in [System.IO.File]::ReadLines($Path)) {
+        if ($line.StartsWith("https://", [System.StringComparison]::OrdinalIgnoreCase)) {
+            $urlCount++
+        }
+        elseif ($line.StartsWith("  dir=", [System.StringComparison]::Ordinal)) {
+            $dirCount++
+        }
+    }
+    return $urlCount -eq $ExpectedEntries -and $dirCount -eq $ExpectedEntries
+}
+
+function Test-FileIntegrity {
+    param([string]$Path, [long]$ExpectedBytes, [string]$ExpectedSha256)
+    $file = Get-Item -LiteralPath $Path -ErrorAction SilentlyContinue
+    if ($null -eq $file -or $file.Length -ne $ExpectedBytes) {
+        return $false
+    }
+    $actualSha256 = (Get-FileHash -LiteralPath $Path -Algorithm SHA256).Hash.ToLowerInvariant()
+    return $actualSha256 -eq $ExpectedSha256
+}
+
+function Initialize-Aria2 {
+    New-Item -ItemType Directory -Force -Path $toolRoot | Out-Null
+    if (-not (Test-Path -LiteralPath $ariaExecutable -PathType Leaf)) {
+        Invoke-CurlDownload -Url $ariaUrl -Destination $ariaArchive
+        Expand-Archive -LiteralPath $ariaArchive -DestinationPath $toolRoot -Force
+    }
+    if (-not (Test-Path -LiteralPath $ariaExecutable -PathType Leaf)) {
+        throw "aria2 executable was not installed at $ariaExecutable"
+    }
+}
+
+function Write-DirectInput {
+    $lines = [System.Collections.Generic.List[string]]::new()
+    foreach ($asset in $assets) {
+        $destination = Join-Path $Root $asset.relative_path
+        New-Item -ItemType Directory -Force -Path (Split-Path -Parent $destination) | Out-Null
+        $lines.Add([string]$asset.url)
+        $lines.Add("  dir=" + (Split-Path -Parent $destination))
+        $lines.Add("  out=" + (Split-Path -Leaf $destination))
+    }
+    [System.IO.File]::WriteAllLines($gooseInputPath, $lines, [System.Text.UTF8Encoding]::new($false))
+}
+
+function Invoke-AriaInput {
+    param([string]$InputPath, [int]$ConcurrentDownloads, [int]$ConnectionsPerServer)
+    $downloadLimit = "{0}M" -f $DownloadLimitMiB
+    & $ariaExecutable `
+        --input-file=$InputPath `
+        --continue=true `
+        --max-concurrent-downloads=$ConcurrentDownloads `
+        --max-connection-per-server=$ConnectionsPerServer `
+        --split=$ConnectionsPerServer `
+        --min-split-size=16M `
+        "--max-overall-download-limit=$downloadLimit" `
+        --file-allocation=none `
+        --disk-cache=64M `
+        --auto-file-renaming=false `
+        --allow-overwrite=false `
+        --retry-wait=5 `
+        --max-tries=0 `
+        --summary-interval=60 `
+        --console-log-level=notice
+    if ($LASTEXITCODE -ne 0) {
+        throw "aria2 input run failed for $InputPath with exit code $LASTEXITCODE"
+    }
+}
+
+function Get-DownloadTask {
+    return Get-ScheduledTask -TaskName $taskName -ErrorAction SilentlyContinue
+}
+
+function Get-AssetSnapshot {
+    $rows = foreach ($asset in $assets) {
+        $path = Join-Path $Root $asset.relative_path
+        $file = Get-Item -LiteralPath $path -ErrorAction SilentlyContinue
+        $partial = Get-Item -LiteralPath ($path + ".aria2") -ErrorAction SilentlyContinue
+        [ordered]@{
+            id = $asset.id
+            group = $asset.group
+            relative_path = $asset.relative_path
+            status = if ($null -ne $file -and $null -eq $partial) { "downloaded" } elseif ($null -ne $file) { "partial" } else { "pending" }
+            size_bytes = if ($null -ne $file) { $file.Length } else { 0 }
+            expected_bytes = $asset.expected_bytes
+        }
+    }
+    return @($rows)
+}
+
+function Invoke-Verify {
+    param([ValidateSet("All", "Models")][string]$Scope = "All")
+    New-Item -ItemType Directory -Force -Path $stateRoot | Out-Null
+    $writer = [System.IO.StreamWriter]::new($verificationPath, $false, [System.Text.UTF8Encoding]::new($false))
+    try {
+        foreach ($asset in $assets) {
+            if ($Scope -eq "Models" -and $asset.group -ne "models") {
+                continue
+            }
+            $path = Join-Path $Root $asset.relative_path
+            if (-not (Test-Path -LiteralPath $path -PathType Leaf)) {
+                continue
+            }
+            if (Test-Path -LiteralPath ($path + ".aria2") -PathType Leaf) {
+                throw "Cannot verify partial asset $($asset.id)"
+            }
+            $file = Get-Item -LiteralPath $path
+            $hash = Get-FileHash -LiteralPath $path -Algorithm SHA256
+            $sizeMatches = $null
+            if ($null -ne $asset.expected_bytes) {
+                $sizeMatches = $file.Length -eq [long]$asset.expected_bytes
+                if (-not $sizeMatches) {
+                    throw "Size mismatch for $($asset.id): expected $($asset.expected_bytes), got $($file.Length)"
+                }
+            }
+            $row = [ordered]@{
+                schema_version = "missioncore.lab-v1-asset-verification/v1"
+                observed_at_utc = [DateTime]::UtcNow.ToString("o")
+                id = $asset.id
+                relative_path = $asset.relative_path
+                size_bytes = $file.Length
+                expected_bytes = $asset.expected_bytes
+                size_matches = $sizeMatches
+                sha256 = $hash.Hash.ToLowerInvariant()
+                source_url = $asset.url
+            }
+            $writer.WriteLine(($row | ConvertTo-Json -Compress -Depth 8))
+            $writer.Flush()
+        }
+        $offnetRoot = Join-Path $Root "models\orfd-offnet"
+        if (Test-Path -LiteralPath $offnetRoot -PathType Container) {
+            Get-ChildItem -LiteralPath $offnetRoot -File -Recurse | Sort-Object FullName | ForEach-Object {
+                $row = [ordered]@{
+                    schema_version = "missioncore.lab-v1-asset-verification/v1"
+                    observed_at_utc = [DateTime]::UtcNow.ToString("o")
+                    id = "orfd-offnet/" + $_.FullName.Substring($offnetRoot.Length + 1).Replace("\", "/")
+                    relative_path = $_.FullName.Substring($Root.Length + 1)
+                    size_bytes = $_.Length
+                    expected_bytes = $null
+                    size_matches = $null
+                    sha256 = (Get-FileHash -LiteralPath $_.FullName -Algorithm SHA256).Hash.ToLowerInvariant()
+                    source_url = "https://drive.google.com/drive/folders/1lnm2M1HEkVs9W3-FSEX3ddE9GYz4rqCU"
+                }
+                $writer.WriteLine(($row | ConvertTo-Json -Compress -Depth 8))
+                $writer.Flush()
+            }
+        }
+    }
+    finally {
+        $writer.Dispose()
+    }
+}
+
+function Measure-PayloadTree {
+    param([string]$Path)
+    [long]$bytes = 0
+    [long]$fileCount = 0
+    [long]$partialCount = 0
+    Get-ChildItem -LiteralPath $Path -File -Recurse | ForEach-Object {
+        if ($_.Name.EndsWith(".aria2", [System.StringComparison]::OrdinalIgnoreCase)) {
+            $partialCount++
+        }
+        else {
+            $fileCount++
+            $bytes += $_.Length
+        }
+    }
+    return [ordered]@{ file_count = $fileCount; size_bytes = $bytes; partial_count = $partialCount }
+}
+
+function Invoke-BulkVerify {
+    $wildScenesRoot = Join-Path $Root "wildscenes"
+    $orfdRoot = Join-Path $Root "orfd"
+    $wildScenes = Measure-PayloadTree -Path $wildScenesRoot
+    $orfd = Measure-PayloadTree -Path $orfdRoot
+    if (
+        $wildScenes.file_count -ne $wildScenesInputEntryCount -or
+        $wildScenes.size_bytes -ne $wildScenesPublishedSizeBytes -or
+        $wildScenes.partial_count -ne 0
+    ) {
+        throw "WildScenes tree failed count/size/partial verification"
+    }
+    if (
+        $orfd.file_count -ne $orfdPublishedFileCount -or
+        $orfd.size_bytes -ne $orfdPublishedSizeBytes -or
+        $orfd.partial_count -ne 0
+    ) {
+        throw "ORFD tree failed count/size/partial verification"
+    }
+    Write-JsonFile -Path $bulkVerificationPath -Value ([ordered]@{
+        schema_version = "missioncore.lab-v1-bulk-verification/v1"
+        observed_at_utc = [DateTime]::UtcNow.ToString("o")
+        worker_id = "worker-006"
+        wildscenes = $wildScenes
+        orfd = $orfd
+        canonical_triton_action = "none"
+    })
+}
+
+function Write-AssetManifest {
+    if (-not (Test-AriaInputList -Path $wildScenesInputPath -ExpectedEntries $wildScenesInputEntryCount)) {
+        throw "WildScenes input list is not admitted"
+    }
+    if (-not (Test-FileIntegrity -Path $orfdTorrentPath -ExpectedBytes $orfdTorrentExpectedBytes -ExpectedSha256 $orfdTorrentSha256)) {
+        throw "ORFD torrent source is not admitted"
+    }
+    Write-JsonFile -Path $assetManifestPath -Value ([ordered]@{
+        schema_version = "missioncore.lab-v1-asset-manifest/v1"
+        observed_at_utc = [DateTime]::UtcNow.ToString("o")
+        worker_id = "worker-006"
+        storage_policy = "worker-d-only"
+        root = $Root
+        runtime_models_mutated = $false
+        canonical_triton_action = "none"
+        existing_admitted_assets = @(
+            [ordered]@{ id = "goose-3d-val"; path = "D:\NDC_MISSIONCORE\datasets\goose-3d\v2025-08-22\archives\goose_3d_val.zip"; sha256 = "0be9e0f8459bafcbc92ff7c3cc366e9b4e2f6e1e9bdf50e6439e1557e864c26f" },
+            [ordered]@{ id = "rellis-3d-v1.1"; path = "D:\NDC_MISSIONCORE\datasets\rellis-3d\v1.1"; admission_identity = "a3f3f161a5a7edccdf66cea75ecf9004b8f6a895282faabe661c075c15a82774" }
+        )
+        direct_assets = $assets
+        wildscenes = [ordered]@{ collection_id = 63154; version = 3; published_size_bytes = $wildScenesPublishedSizeBytes; data_file_count = $wildScenesDataFileCount; metadata_file_count = $wildScenesMetadataFileCount; input_entry_count = $wildScenesInputEntryCount; url_list = $wildScenesInputPath; url_list_sha256 = (Get-FileHash -LiteralPath $wildScenesInputPath -Algorithm SHA256).Hash.ToLowerInvariant() }
+        orfd = [ordered]@{ info_hash = "ec5ccf4b8e49271ee3b63660383facf43063f2f2"; published_size_bytes = $orfdPublishedSizeBytes; published_file_count = $orfdPublishedFileCount; torrent = $orfdTorrentPath; torrent_size_bytes = $orfdTorrentExpectedBytes; torrent_sha256 = $orfdTorrentSha256 }
+        offnet_weights = [ordered]@{ source_folder = "https://drive.google.com/drive/folders/1lnm2M1HEkVs9W3-FSEX3ddE9GYz4rqCU"; relative_path = "models\orfd-offnet"; downloader = "gdown==5.2.0"; isolated_image = "nvcr.io/nvidia/tritonserver@sha256:58df7489c3f2276f9591d500a012dee03e23d35543ce3c390b4c001e6bf90794"; runtime_models_mutated = $false }
+    })
+}
+
+New-Item -ItemType Directory -Force -Path $Root, $stateRoot | Out-Null
+
+switch ($Mode) {
+    "Start" {
+        $existingTask = Get-DownloadTask
+        if ($null -ne $existingTask -and $existingTask.State -eq "Running") {
+            throw "LAB V1 downloader task is already running"
+        }
+
+        $drive = Get-PSDrive -Name D
+        $currentUsage = Measure-PayloadTree -Path $Root
+        [long]$remainingPayloadBytes = 360GB - [long]$currentUsage.size_bytes
+        if ($remainingPayloadBytes -lt 0) {
+            $remainingPayloadBytes = 0
+        }
+        [long]$requiredFreeBytes = 10GB + $remainingPayloadBytes
+        if ($drive.Free -lt $requiredFreeBytes) {
+            throw "Worker D: has only $([math]::Round($drive.Free / 1GB, 2)) GiB free; $([math]::Round($requiredFreeBytes / 1GB, 2)) GiB is required for remaining payload plus reserve"
+        }
+
+        Set-Stage -Stage "preflight" -Status "running" -Detail "Installing bounded downloader and generating immutable source lists"
+        Initialize-Aria2
+        Write-DirectInput
+
+        if (-not (Test-AriaInputList -Path $wildScenesInputPath -ExpectedEntries $wildScenesInputEntryCount)) {
+            Invoke-CurlDownload -Url "https://data.csiro.au/dap/ws/v2/collections/63154/files/list" -Destination $wildScenesInputPath
+        }
+        if (-not (Test-AriaInputList -Path $wildScenesInputPath -ExpectedEntries $wildScenesInputEntryCount)) {
+            throw "WildScenes input list is incomplete: expected $wildScenesInputEntryCount URL/dir entries"
+        }
+        if (-not (Test-FileIntegrity -Path $orfdTorrentPath -ExpectedBytes $orfdTorrentExpectedBytes -ExpectedSha256 $orfdTorrentSha256)) {
+            Remove-Item -LiteralPath $orfdTorrentPath -Force -ErrorAction SilentlyContinue
+            Invoke-CurlDownload -Url "https://academictorrents.com/download/ec5ccf4b8e49271ee3b63660383facf43063f2f2.torrent" -Destination $orfdTorrentPath
+        }
+        if (-not (Test-FileIntegrity -Path $orfdTorrentPath -ExpectedBytes $orfdTorrentExpectedBytes -ExpectedSha256 $orfdTorrentSha256)) {
+            throw "ORFD torrent source failed size/SHA-256 verification"
+        }
+
+        Write-AssetManifest
+
+        $powershell = "$env:SystemRoot\System32\WindowsPowerShell\v1.0\powershell.exe"
+        $arguments = @(
+            "-NoLogo", "-NoProfile", "-NonInteractive", "-ExecutionPolicy", "Bypass",
+            "-File", "`"$PSCommandPath`"",
+            "-Mode", "Run",
+            "-Root", "`"$Root`"",
+            "-DownloadLimitMiB", $DownloadLimitMiB
+        ) -join " "
+        $action = New-ScheduledTaskAction -Execute $powershell -Argument $arguments -WorkingDirectory (Split-Path -Parent $PSCommandPath)
+        $principal = New-ScheduledTaskPrincipal -UserId ([System.Security.Principal.WindowsIdentity]::GetCurrent().Name) -LogonType Interactive -RunLevel Limited
+        $trigger = New-ScheduledTaskTrigger -Once -At ((Get-Date).AddMinutes(30))
+        $settings = New-ScheduledTaskSettingsSet -AllowStartIfOnBatteries -DontStopIfGoingOnBatteries -StartWhenAvailable -ExecutionTimeLimit ([TimeSpan]::FromHours(72))
+        Register-ScheduledTask -TaskName $taskName -Action $action -Principal $principal -Trigger $trigger -Settings $settings -Description "Mission Core LAB V1 isolated vegetation dataset and model admission." -Force | Out-Null
+        Start-ScheduledTask -TaskName $taskName
+        Set-Stage -Stage "queued" -Status "running" -Detail "Bounded downloader started as scheduled task $taskName"
+        [ordered]@{
+            ok = $true
+            mode = $Mode
+            task_name = $taskName
+            task_state = (Get-ScheduledTask -TaskName $taskName).State.ToString()
+            root = $Root
+            d_free_gib_before = [math]::Round($drive.Free / 1GB, 2)
+            download_limit_mib = $DownloadLimitMiB
+            canonical_triton_action = "none"
+        } | ConvertTo-Json -Depth 6
+    }
+    "Run" {
+        try {
+            Initialize-Aria2
+            Set-Stage -Stage "models-and-goose" -Status "running" -Detail "Downloading official pretrained weights and prepared GOOSE/GOOSE-Ex splits"
+            Invoke-AriaInput -InputPath $gooseInputPath -ConcurrentDownloads 2 -ConnectionsPerServer 4
+
+            Set-Stage -Stage "orfd" -Status "running" -Detail "Downloading the 45.94 GB Academic Torrents ORFD release"
+            $orfdRoot = Join-Path $Root "orfd"
+            $downloadLimit = "{0}M" -f $DownloadLimitMiB
+            New-Item -ItemType Directory -Force -Path $orfdRoot | Out-Null
+            & $ariaExecutable `
+                --dir=$orfdRoot `
+                --continue=true `
+                --seed-time=0 `
+                "--max-overall-download-limit=$downloadLimit" `
+                --file-allocation=none `
+                --disk-cache=64M `
+                --summary-interval=60 `
+                --console-log-level=notice `
+                $orfdTorrentPath
+            if ($LASTEXITCODE -ne 0) {
+                throw "ORFD torrent run failed with exit code $LASTEXITCODE"
+            }
+
+            Set-Stage -Stage "wildscenes" -Status "running" -Detail "Downloading the complete public WildScenes v3 file list"
+            $wildScenesRoot = Join-Path $Root "wildscenes"
+            New-Item -ItemType Directory -Force -Path $wildScenesRoot | Out-Null
+            Push-Location $wildScenesRoot
+            try {
+                Invoke-AriaInput -InputPath $wildScenesInputPath -ConcurrentDownloads 8 -ConnectionsPerServer 2
+            }
+            finally {
+                Pop-Location
+            }
+
+            Set-Stage -Stage "verification" -Status "running" -Detail "Computing SHA-256 for direct archive and model assets"
+            Invoke-Verify
+            Invoke-BulkVerify
+            Set-Stage -Stage "complete" -Status "complete" -Detail "All scheduled assets downloaded and verified by direct hashes or published tree totals"
+        }
+        catch {
+            Set-Stage -Stage "failed" -Status "failed" -Detail $_.Exception.Message
+            throw
+        }
+    }
+    "Status" {
+        $task = Get-DownloadTask
+        $stage = if (Test-Path -LiteralPath $stagePath -PathType Leaf) { Get-Content -LiteralPath $stagePath -Raw | ConvertFrom-Json } else { $null }
+        $snapshot = Get-AssetSnapshot
+        $drive = Get-PSDrive -Name D
+        [ordered]@{
+            ok = $true
+            mode = $Mode
+            running = $null -ne $task -and $task.State -eq "Running"
+            task_name = $taskName
+            task_state = if ($null -ne $task) { $task.State.ToString() } else { $null }
+            stage = $stage
+            direct_assets = $snapshot
+            downloaded_direct_asset_count = @($snapshot | Where-Object { $_.status -eq "downloaded" }).Count
+            partial_direct_asset_count = @($snapshot | Where-Object { $_.status -eq "partial" }).Count
+            d_free_gib = [math]::Round($drive.Free / 1GB, 2)
+            canonical_triton_action = "none"
+        } | ConvertTo-Json -Depth 10
+    }
+    "Manifest" {
+        Write-AssetManifest
+        [ordered]@{
+            ok = $true
+            mode = $Mode
+            manifest_path = $assetManifestPath
+            manifest_sha256 = (Get-FileHash -LiteralPath $assetManifestPath -Algorithm SHA256).Hash.ToLowerInvariant()
+            canonical_triton_action = "none"
+        } | ConvertTo-Json -Depth 6
+    }
+    "VerifyModels" {
+        Invoke-Verify -Scope "Models"
+        [ordered]@{
+            ok = $true
+            mode = $Mode
+            verification_path = $verificationPath
+            verification_sha256 = (Get-FileHash -LiteralPath $verificationPath -Algorithm SHA256).Hash.ToLowerInvariant()
+            verified_asset_count = (Get-Content -LiteralPath $verificationPath).Count
+            canonical_triton_action = "none"
+        } | ConvertTo-Json -Depth 6
+    }
+    "Verify" {
+        Set-Stage -Stage "verification" -Status "running" -Detail "Manual direct-asset and published-tree verification requested"
+        Invoke-Verify
+        Invoke-BulkVerify
+        Set-Stage -Stage "verification" -Status "complete" -Detail "Direct assets hashed and bulk trees match published totals"
+        [ordered]@{
+            ok = $true
+            mode = $Mode
+            verification_path = $verificationPath
+            bulk_verification_path = $bulkVerificationPath
+            verified_asset_count = (Get-Content -LiteralPath $verificationPath).Count
+        } | ConvertTo-Json -Depth 6
+    }
+}

experiments/perception/worker/Invoke-LabV1VegetationGooseBenchmark.ps1

@@ -0,0 +1,255 @@
+[CmdletBinding()]
+param(
+    [ValidateSet("Build", "Probe", "Validate", "Ravnoves", "RavnovesVideo", "Status")]
+    [string]$Mode = "Status",
+
+    [ValidateSet("Ddrnet", "Ppliteseg")]
+    [string]$Candidate = "Ddrnet",
+
+    [string]$AssetRoot = "D:\NDC_MISSIONCORE\datasets\vegetation-v1\observed-2026-08-27",
+
+    [string]$ToolRoot = "D:\NDC_MISSIONCORE\datasets\tooling\lab-v1-vegetation-goose",
+
+    [string]$OutputRoot = "D:\NDC_MISSIONCORE\runtime\experiments\lab-v1-vegetation",
+
+    [string]$RavnovesVideo = "D:\NDC_MISSIONCORE\runtime\experiments\e46e\inputs\right-cadd1696ff000904eb78633a0a8418104b8024f178b91f3421789021ccb160e8.mp4"
+)
+
+Set-StrictMode -Version Latest
+$ErrorActionPreference = "Stop"
+
+$datasetPrefix = "D:\NDC_MISSIONCORE\datasets\"
+$runtimePrefix = "D:\NDC_MISSIONCORE\runtime\experiments\"
+if (-not $AssetRoot.StartsWith($datasetPrefix, [StringComparison]::OrdinalIgnoreCase)) {
+    throw "AssetRoot must stay under $datasetPrefix"
+}
+if (-not $ToolRoot.StartsWith($datasetPrefix, [StringComparison]::OrdinalIgnoreCase)) {
+    throw "ToolRoot must stay under $datasetPrefix"
+}
+if (-not $OutputRoot.StartsWith($runtimePrefix, [StringComparison]::OrdinalIgnoreCase)) {
+    throw "OutputRoot must stay under $runtimePrefix"
+}
+
+$image = "ndc/mission-core-lab-v1-goose:sg3.2.0-cu117-v1"
+$canonicalContainer = "ndc-mission-core-triton"
+$candidateKey = $Candidate.ToLowerInvariant()
+$contextRoot = Join-Path $ToolRoot "context"
+$configRoot = Join-Path $ToolRoot "config"
+$benchmarkConfig = Join-Path $configRoot "lab-v1-goose-vegetation-benchmark-v1.json"
+$policyConfig = Join-Path $configRoot "lab-v1-vegetation-mission-policy-v1.json"
+$providerMapConfig = Join-Path $configRoot "lab-v1-vegetation-provider-label-map-v1.json"
+$datasetRoot = Join-Path $AssetRoot "goose-2d\validation"
+$checkpointRelative = if ($candidateKey -eq "ddrnet") {
+    "models\goose\ddrnet_class_512.pth"
+} else {
+    "models\goose\ppliteseg_class_512.pth"
+}
+$checkpoint = Join-Path $AssetRoot $checkpointRelative
+$expectedCheckpointSha256 = if ($candidateKey -eq "ddrnet") {
+    "b99c2838051bcd7b092fd3970aa62a77d5c0bbb809c9b9afb2ff4b0ebdaa4ee6"
+} else {
+    "6dd412c0c99115e359896c4cab43a8e6bce9e09b843e7fa885fe597b0a6121cd"
+}
+$expectedCheckpointBytes = if ($candidateKey -eq "ddrnet") { 259419077 } else { 98208249 }
+$ravnovesSha256 = "cadd1696ff000904eb78633a0a8418104b8024f178b91f3421789021ccb160e8"
+$frameIndices = @(0, 253, 512, 768, 1024, 1536, 2048, 2560, 3072, 3584, 4096, 4488)
+$dockerConfig = "D:\NDC_MISSIONCORE\datasets\state\lab-v1-vegetation\docker-config"
+
+function Get-CanonicalTritonIdentity {
+    $identity = & docker inspect $canonicalContainer --format "{{.Id}}|{{.Config.Image}}|{{.State.Status}}|{{if .State.Health}}{{.State.Health.Status}}{{end}}"
+    if ($LASTEXITCODE -ne 0 -or [string]::IsNullOrWhiteSpace($identity)) {
+        throw "Canonical Triton is unavailable"
+    }
+    $parts = $identity.Split("|")
+    if ($parts.Count -ne 4 -or $parts[2] -ne "running" -or $parts[3] -ne "healthy") {
+        throw "Canonical Triton is not running and healthy: $identity"
+    }
+    return $identity
+}
+
+function Assert-FileIdentity {
+    param([string]$Path, [long]$ExpectedBytes, [string]$ExpectedSha256)
+    $file = Get-Item -LiteralPath $Path -ErrorAction SilentlyContinue
+    if ($null -eq $file -or $file.Length -ne $ExpectedBytes) {
+        throw "File identity changed: $Path"
+    }
+    $actualSha256 = (Get-FileHash -LiteralPath $Path -Algorithm SHA256).Hash.ToLowerInvariant()
+    if ($actualSha256 -ne $ExpectedSha256) {
+        throw "File digest changed: $Path"
+    }
+}
+
+function Assert-RunnerInputs {
+    foreach ($path in @($benchmarkConfig, $policyConfig, $providerMapConfig)) {
+        if (-not (Test-Path -LiteralPath $path -PathType Leaf)) {
+            throw "Runner config is unavailable: $path"
+        }
+    }
+    if (-not (Test-Path -LiteralPath (Join-Path $contextRoot "Dockerfile") -PathType Leaf)) {
+        throw "Runner Dockerfile is unavailable"
+    }
+    if (-not (Test-Path -LiteralPath (Join-Path $contextRoot "run_goose_vegetation_benchmark.py") -PathType Leaf)) {
+        throw "Runner source is unavailable"
+    }
+    Assert-FileIdentity -Path $checkpoint -ExpectedBytes $expectedCheckpointBytes -ExpectedSha256 $expectedCheckpointSha256
+}
+
+function New-RunRoot {
+    param([string]$Kind)
+    $stamp = [DateTime]::UtcNow.ToString("yyyyMMddTHHmmssfffZ")
+    $path = Join-Path $OutputRoot ("{0}-{1}-{2}" -f $Kind, $candidateKey, $stamp)
+    New-Item -ItemType Directory -Path $path | Out-Null
+    return $path
+}
+
+function Invoke-IsolatedRun {
+    param(
+        [ValidateSet("goose", "ravnoves", "ravnoves-video")][string]$RunMode,
+        [string]$RunRoot,
+        [int]$Limit,
+        [string]$FramesRoot = ""
+    )
+    $containerName = "ndc-lab-v1-goose-$candidateKey-$([Guid]::NewGuid().ToString('N').Substring(0, 10))"
+    $visualCount = if ($RunMode -eq "ravnoves-video") { 0 } else { 12 }
+    $arguments = @(
+        "run", "--rm", "--name", $containerName,
+        "--gpus", "all",
+        "--network", "none",
+        "--read-only",
+        "--cap-drop", "ALL",
+        "--security-opt", "no-new-privileges",
+        "--memory", "10g",
+        "--cpus", "8",
+        "--pids-limit", "512",
+        "--tmpfs", "/tmp:rw,noexec,nosuid,size=2g",
+        "--env", "HOME=/tmp",
+        "--mount", "type=bind,src=$datasetRoot,dst=/data/goose,readonly",
+        "--mount", "type=bind,src=$checkpoint,dst=/models/candidate.pth,readonly",
+        "--mount", "type=bind,src=$configRoot,dst=/config,readonly",
+        "--mount", "type=bind,src=$RunRoot,dst=/output",
+        $image,
+        "--mode", $RunMode,
+        "--candidate", $candidateKey,
+        "--config", "/config/lab-v1-goose-vegetation-benchmark-v1.json",
+        "--policy", "/config/lab-v1-vegetation-mission-policy-v1.json",
+        "--provider-map", "/config/lab-v1-vegetation-provider-label-map-v1.json",
+        "--checkpoint", "/models/candidate.pth",
+        "--dataset-root", "/data/goose",
+        "--output", "/output/result",
+        "--limit", $Limit.ToString(),
+        "--visual-count", $visualCount.ToString()
+    )
+    if ($RunMode -in @("ravnoves", "ravnoves-video")) {
+        $arguments = @($arguments[0..($arguments.Count - 1)])
+        $arguments += @("--frames-root", "/input")
+        $mountIndex = [Array]::IndexOf($arguments, $image)
+        $head = @($arguments[0..($mountIndex - 1)])
+        $tail = @($arguments[$mountIndex..($arguments.Count - 1)])
+        $arguments = $head + @("--mount", "type=bind,src=$FramesRoot,dst=/input,readonly") + $tail
+    }
+    & docker @arguments
+    if ($LASTEXITCODE -ne 0) {
+        throw "LAB V1 container failed with exit code $LASTEXITCODE"
+    }
+}
+
+function Export-RavnovesFrames {
+    param([string]$Destination)
+    Assert-FileIdentity -Path $RavnovesVideo -ExpectedBytes (Get-Item -LiteralPath $RavnovesVideo).Length -ExpectedSha256 $ravnovesSha256
+    New-Item -ItemType Directory -Path $Destination | Out-Null
+    $expression = ($frameIndices | ForEach-Object { "eq(n\,$_ )" }) -join "+"
+    $temporaryPattern = Join-Path $Destination "selected-%03d.png"
+    & ffmpeg -hide_banner -loglevel error -i $RavnovesVideo -vf "select='$expression'" -fps_mode vfr $temporaryPattern
+    if ($LASTEXITCODE -ne 0) {
+        throw "RAVNOVES exact frame extraction failed"
+    }
+    $selected = @(Get-ChildItem -LiteralPath $Destination -Filter "selected-*.png" | Sort-Object Name)
+    if ($selected.Count -ne $frameIndices.Count) {
+        throw "RAVNOVES frame island changed: expected $($frameIndices.Count), got $($selected.Count)"
+    }
+    for ($index = 0; $index -lt $selected.Count; $index++) {
+        $target = Join-Path $Destination ("frame-{0:D6}.png" -f $frameIndices[$index])
+        Move-Item -LiteralPath $selected[$index].FullName -Destination $target
+    }
+}
+
+function Export-RavnovesVideoFrames {
+    param([string]$Destination)
+    Assert-FileIdentity -Path $RavnovesVideo -ExpectedBytes (Get-Item -LiteralPath $RavnovesVideo).Length -ExpectedSha256 $ravnovesSha256
+    New-Item -ItemType Directory -Path $Destination | Out-Null
+    & ffmpeg -hide_banner -loglevel error -i $RavnovesVideo -map 0:v:0 -fps_mode passthrough (Join-Path $Destination "frame-%06d.png")
+    if ($LASTEXITCODE -ne 0) {
+        throw "RAVNOVES full-video frame extraction failed"
+    }
+    $frames = @(Get-ChildItem -LiteralPath $Destination -File -Filter "frame-*.png" | Sort-Object Name)
+    if ($frames.Count -ne 4489 -or $frames[0].Name -ne "frame-000001.png" -or $frames[-1].Name -ne "frame-004489.png") {
+        throw "RAVNOVES full-video frame sequence changed"
+    }
+}
+
+if ($Mode -eq "Status") {
+    $imageIdentity = & docker image inspect $image --format "{{.Id}}" 2>$null
+    [ordered]@{
+        schema_version = "missioncore.lab-v1-goose-runner-status/v1"
+        observed_at_utc = [DateTime]::UtcNow.ToString("o")
+        worker_id = "worker-006"
+        image = $image
+        image_id = if ($LASTEXITCODE -eq 0) { $imageIdentity } else { $null }
+        canonical_triton = Get-CanonicalTritonIdentity
+        asset_root = $AssetRoot
+        output_root = $OutputRoot
+        candidate = $candidateKey
+    } | ConvertTo-Json -Depth 6
+    exit 0
+}
+
+Assert-RunnerInputs
+$canonicalBefore = Get-CanonicalTritonIdentity
+try {
+    if ($Mode -eq "Build") {
+        if (-not (Test-Path -LiteralPath (Join-Path $dockerConfig "config.json") -PathType Leaf)) {
+            throw "Isolated Docker client configuration is unavailable"
+        }
+        $previousDockerConfig = $env:DOCKER_CONFIG
+        try {
+            $env:DOCKER_CONFIG = $dockerConfig
+            & docker build --pull=false --label "com.nodedc.component=mission-core-lab-v1-goose" --label "com.nodedc.authority=shadow-only" --tag $image $contextRoot
+            if ($LASTEXITCODE -ne 0) {
+                throw "LAB V1 image build failed with exit code $LASTEXITCODE"
+            }
+        }
+        finally {
+            $env:DOCKER_CONFIG = $previousDockerConfig
+        }
+    }
+    elseif ($Mode -eq "Probe") {
+        $runRoot = New-RunRoot -Kind "probe"
+        Invoke-IsolatedRun -RunMode "goose" -RunRoot $runRoot -Limit 8
+    }
+    elseif ($Mode -eq "Validate") {
+        $runRoot = New-RunRoot -Kind "validation"
+        Invoke-IsolatedRun -RunMode "goose" -RunRoot $runRoot -Limit 0
+    }
+    elseif ($Mode -eq "Ravnoves") {
+        $runRoot = New-RunRoot -Kind "ravnoves"
+        $framesRoot = Join-Path $runRoot "input-frames"
+        Export-RavnovesFrames -Destination $framesRoot
+        Invoke-IsolatedRun -RunMode "ravnoves" -RunRoot $runRoot -Limit 0 -FramesRoot $framesRoot
+    }
+    elseif ($Mode -eq "RavnovesVideo") {
+        if ($candidateKey -ne "ddrnet") {
+            throw "Full-video shadow is admitted only for the selected DDRNet candidate"
+        }
+        $runRoot = New-RunRoot -Kind "ravnoves-video"
+        $framesRoot = Join-Path $runRoot "input-frames"
+        Export-RavnovesVideoFrames -Destination $framesRoot
+        Invoke-IsolatedRun -RunMode "ravnoves-video" -RunRoot $runRoot -Limit 0 -FramesRoot $framesRoot
+        Remove-Item -LiteralPath $framesRoot -Recurse -Force
+    }
+}
+finally {
+    $canonicalAfter = Get-CanonicalTritonIdentity
+    if ($canonicalAfter -ne $canonicalBefore) {
+        throw "Canonical Triton identity changed during LAB V1 work"
+    }
+}

experiments/perception/worker/Invoke-M49T1GSeg3DQualification.ps1

@@ -0,0 +1,120 @@
+[CmdletBinding()]
+param(
+    [Parameter(Mandatory = $true)]
+    [string]$BuildContext,
+    [Parameter(Mandatory = $true)]
+    [ValidatePattern("^[A-Za-z0-9._-]{1,96}$")]
+    [string]$RunId,
+    [string]$OutputRoot = "D:\NDC_MISSIONCORE\runtime\results\m49-t1-gseg3d"
+)
+
+$ErrorActionPreference = "Stop"
+$ProgressPreference = "SilentlyContinue"
+
+function Assert-LastExitCode([string]$Operation) {
+    if ($LASTEXITCODE -ne 0) { throw "$Operation failed with exit code $LASTEXITCODE" }
+}
+
+function Resolve-DDirectory([string]$Path, [string]$Label, [bool]$Create) {
+    if ($Create -and -not (Test-Path -LiteralPath $Path)) {
+        $null = New-Item -ItemType Directory -Path $Path
+    }
+    $item = Get-Item -LiteralPath (Resolve-Path -LiteralPath $Path).Path -Force
+    if (
+        -not $item.PSIsContainer -or
+        ($item.Attributes -band [IO.FileAttributes]::ReparsePoint) -or
+        [IO.Path]::GetPathRoot($item.FullName).TrimEnd("\") -ine "D:"
+    ) {
+        throw "$Label must be a real D: directory"
+    }
+    return $item.FullName
+}
+
+function Get-Container([string]$Name) {
+    $rows = @((& docker inspect $Name) | ConvertFrom-Json)
+    Assert-LastExitCode "Docker inspection for $Name"
+    if ($rows.Count -ne 1) { throw "Container identity for $Name is not unique" }
+    return $rows[0]
+}
+
+if ($env:COMPUTERNAME -cne "DESKTOP-OPJ8J04") {
+    throw "M49 T1 is pinned to Worker 006"
+}
+
+$context = Resolve-DDirectory $BuildContext "M49 T1 build context" $false
+$output = Resolve-DDirectory $OutputRoot "M49 T1 output root" $true
+$runOutput = Join-Path $output $RunId
+if (Test-Path -LiteralPath $runOutput) { throw "M49 T1 output already exists" }
+$null = New-Item -ItemType Directory -Path $runOutput
+$runOutput = Resolve-DDirectory $runOutput "M49 T1 run output" $false
+$dockerConfig = Join-Path $runOutput "docker-config"
+$null = New-Item -ItemType Directory -Path $dockerConfig
+'{"auths":{}}' | Set-Content -LiteralPath (Join-Path $dockerConfig "config.json") -Encoding ascii
+$env:DOCKER_CONFIG = $dockerConfig
+
+$os = Get-CimInstance Win32_OperatingSystem
+$freeMemoryGiB = [double]$os.FreePhysicalMemory / 1MB
+if ($freeMemoryGiB -lt 16.0) {
+    throw ("M49 T1 requires 16 GiB free memory; observed {0:N2} GiB" -f $freeMemoryGiB)
+}
+
+$canonicalTriton = Get-Container "ndc-mission-core-triton"
+if (-not $canonicalTriton.State.Running -or $canonicalTriton.State.Health.Status -cne "healthy") {
+    throw "Canonical Mission Core Triton must remain healthy during M49 T1"
+}
+
+$containerName = "ndc-mission-core-m49-t1-gseg3d-$RunId"
+if (& docker ps -a --format "{{.Names}}" --filter "name=^/$containerName$") {
+    throw "M49 T1 container name already exists"
+}
+
+$imageTag = "ndc/mission-core-m49-t1-gseg3d:20260826"
+$buildStarted = [DateTimeOffset]::UtcNow
+& docker build --pull=false --tag $imageTag $context
+Assert-LastExitCode "M49 T1 image build"
+$buildCompleted = [DateTimeOffset]::UtcNow
+
+$runStarted = [DateTimeOffset]::UtcNow
+try {
+    & docker run --rm --name $containerName --cpus 16 --memory 24g `
+        --volume ((($runOutput -replace "\\", "/")) + ":/evidence") `
+        $imageTag
+    Assert-LastExitCode "M49 T1 upstream qualification"
+} finally {
+    if (& docker ps -a --format "{{.Names}}" --filter "name=^/$containerName$") {
+        & docker rm --force $containerName *> $null
+    }
+}
+$runCompleted = [DateTimeOffset]::UtcNow
+
+$image = @((& docker image inspect $imageTag) | ConvertFrom-Json)[0]
+Assert-LastExitCode "M49 T1 image inspection"
+$resultPath = Join-Path $runOutput "result.json"
+if (-not (Test-Path -LiteralPath $resultPath -PathType Leaf)) {
+    throw "M49 T1 result.json is missing"
+}
+$result = Get-Content -LiteralPath $resultPath -Raw | ConvertFrom-Json
+if ($result.status -cne "passed") { throw "M49 T1 qualification did not pass" }
+
+$summary = [ordered]@{
+    schema_version = "missioncore.m49-t1-worker-summary/v1"
+    worker_id = "worker-006"
+    run_id = $RunId
+    image_tag = $imageTag
+    image_id = [string]$image.Id
+    image_size_bytes = [long]$image.Size
+    build_started_utc = $buildStarted.ToString("o")
+    build_wall_seconds = [math]::Round(($buildCompleted - $buildStarted).TotalSeconds, 6)
+    qualification_wall_seconds = [math]::Round(($runCompleted - $runStarted).TotalSeconds, 6)
+    free_memory_gib_before = [math]::Round($freeMemoryGiB, 6)
+    canonical_triton_id = [string]$canonicalTriton.Id
+    canonical_triton_health = [string]$canonicalTriton.State.Health.Status
+    candidate_accepted = $true
+    ravnoves00_quality_accepted = $false
+    realtime_accepted = $false
+    navigation_or_actuation_allowed = $false
+}
+$summary | ConvertTo-Json -Depth 3 | Set-Content -LiteralPath (
+    Join-Path $runOutput "worker-summary.json"
+) -Encoding utf8
+$summary | ConvertTo-Json -Depth 3

experiments/perception/worker/Invoke-M49T1GSeg3DQualificationAsInteractiveUser.ps1

@@ -0,0 +1,62 @@
+[CmdletBinding()]
+param(
+    [Parameter(Mandatory = $true)]
+    [string]$ReleaseRoot,
+    [Parameter(Mandatory = $true)]
+    [ValidatePattern("^[A-Za-z0-9._-]{1,96}$")]
+    [string]$RunId
+)
+
+$ErrorActionPreference = "Stop"
+$taskName = "MissionCore-M49T1GSeg3D"
+$release = (Resolve-Path -LiteralPath $ReleaseRoot).Path
+$payload = Join-Path $release "payload"
+$runner = Join-Path $payload "Invoke-M49T1GSeg3DQualification.ps1"
+if (-not (Test-Path -LiteralPath $runner -PathType Leaf)) {
+    throw "M49 T1 runner is missing"
+}
+
+$existing = Get-ScheduledTask -TaskName $taskName -ErrorAction SilentlyContinue
+if ($existing -and $existing.State -eq "Running") {
+    throw "$taskName is already running"
+}
+
+$powerShell = "$env:SystemRoot\System32\WindowsPowerShell\v1.0\powershell.exe"
+$arguments = @(
+    "-NoLogo", "-NoProfile", "-NonInteractive", "-ExecutionPolicy", "Bypass",
+    "-File", "`"$runner`"",
+    "-BuildContext", "`"$payload`"",
+    "-RunId", "`"$RunId`""
+) -join " "
+$userId = [System.Security.Principal.WindowsIdentity]::GetCurrent().Name
+$action = New-ScheduledTaskAction `
+    -Execute $powerShell `
+    -Argument $arguments `
+    -WorkingDirectory $payload
+$principal = New-ScheduledTaskPrincipal `
+    -UserId $userId `
+    -LogonType Interactive `
+    -RunLevel Limited
+$trigger = New-ScheduledTaskTrigger -Once -At ((Get-Date).AddMinutes(30))
+$settings = New-ScheduledTaskSettingsSet `
+    -AllowStartIfOnBatteries `
+    -DontStopIfGoingOnBatteries `
+    -StartWhenAvailable `
+    -ExecutionTimeLimit ([TimeSpan]::FromHours(3))
+
+Register-ScheduledTask `
+    -TaskName $taskName `
+    -Action $action `
+    -Principal $principal `
+    -Trigger $trigger `
+    -Settings $settings `
+    -Description "One-shot M49 T1 pinned GSeg3D upstream qualification." `
+    -Force | Out-Null
+Start-ScheduledTask -TaskName $taskName
+
+[pscustomobject]@{
+    task_name = $taskName
+    run_id = $RunId
+    release_root = $release
+    state = (Get-ScheduledTask -TaskName $taskName).State.ToString()
+} | ConvertTo-Json -Compress

experiments/perception/worker/Invoke-M49T3TravelQualification.ps1

@@ -0,0 +1,120 @@
+[CmdletBinding()]
+param(
+    [Parameter(Mandatory = $true)]
+    [string]$BuildContext,
+    [Parameter(Mandatory = $true)]
+    [ValidatePattern("^[A-Za-z0-9._-]{1,96}$")]
+    [string]$RunId,
+    [string]$OutputRoot = "D:\NDC_MISSIONCORE\runtime\results\m49-t3-travel"
+)
+
+$ErrorActionPreference = "Stop"
+$ProgressPreference = "SilentlyContinue"
+
+function Assert-LastExitCode([string]$Operation) {
+    if ($LASTEXITCODE -ne 0) { throw "$Operation failed with exit code $LASTEXITCODE" }
+}
+
+function Resolve-DDirectory([string]$Path, [string]$Label, [bool]$Create) {
+    if ($Create -and -not (Test-Path -LiteralPath $Path)) {
+        $null = New-Item -ItemType Directory -Path $Path
+    }
+    $item = Get-Item -LiteralPath (Resolve-Path -LiteralPath $Path).Path -Force
+    if (
+        -not $item.PSIsContainer -or
+        ($item.Attributes -band [IO.FileAttributes]::ReparsePoint) -or
+        [IO.Path]::GetPathRoot($item.FullName).TrimEnd("\") -ine "D:"
+    ) {
+        throw "$Label must be a real D: directory"
+    }
+    return $item.FullName
+}
+
+function Get-Container([string]$Name) {
+    $rows = @((& docker inspect $Name) | ConvertFrom-Json)
+    Assert-LastExitCode "Docker inspection for $Name"
+    if ($rows.Count -ne 1) { throw "Container identity for $Name is not unique" }
+    return $rows[0]
+}
+
+if ($env:COMPUTERNAME -cne "DESKTOP-OPJ8J04") {
+    throw "M49 T3 is pinned to Worker 006"
+}
+
+$context = Resolve-DDirectory $BuildContext "M49 T3 build context" $false
+$output = Resolve-DDirectory $OutputRoot "M49 T3 output root" $true
+$runOutput = Join-Path $output $RunId
+if (Test-Path -LiteralPath $runOutput) { throw "M49 T3 output already exists" }
+$null = New-Item -ItemType Directory -Path $runOutput
+$runOutput = Resolve-DDirectory $runOutput "M49 T3 run output" $false
+$dockerConfig = Join-Path $runOutput "docker-config"
+$null = New-Item -ItemType Directory -Path $dockerConfig
+'{"auths":{}}' | Set-Content -LiteralPath (Join-Path $dockerConfig "config.json") -Encoding ascii
+$env:DOCKER_CONFIG = $dockerConfig
+
+$os = Get-CimInstance Win32_OperatingSystem
+$freeMemoryGiB = [double]$os.FreePhysicalMemory / 1MB
+if ($freeMemoryGiB -lt 16.0) {
+    throw ("M49 T3 requires 16 GiB free memory; observed {0:N2} GiB" -f $freeMemoryGiB)
+}
+
+$canonicalTriton = Get-Container "ndc-mission-core-triton"
+if (-not $canonicalTriton.State.Running -or $canonicalTriton.State.Health.Status -cne "healthy") {
+    throw "Canonical Mission Core Triton must remain healthy during M49 T3"
+}
+
+$containerName = "ndc-mission-core-m49-t3-travel-$RunId"
+if (& docker ps -a --format "{{.Names}}" --filter "name=^/$containerName$") {
+    throw "M49 T3 container name already exists"
+}
+
+$imageTag = "ndc/mission-core-m49-t3-travel:20260826"
+$buildStarted = [DateTimeOffset]::UtcNow
+& docker build --pull=false --tag $imageTag $context
+Assert-LastExitCode "M49 T3 image build"
+$buildCompleted = [DateTimeOffset]::UtcNow
+
+$runStarted = [DateTimeOffset]::UtcNow
+try {
+    & docker run --rm --name $containerName --cpus 16 --memory 24g `
+        --volume ((($runOutput -replace "\\", "/")) + ":/evidence") `
+        $imageTag
+    Assert-LastExitCode "M49 T3 upstream qualification"
+} finally {
+    if (& docker ps -a --format "{{.Names}}" --filter "name=^/$containerName$") {
+        & docker rm --force $containerName *> $null
+    }
+}
+$runCompleted = [DateTimeOffset]::UtcNow
+
+$image = @((& docker image inspect $imageTag) | ConvertFrom-Json)[0]
+Assert-LastExitCode "M49 T3 image inspection"
+$resultPath = Join-Path $runOutput "result.json"
+if (-not (Test-Path -LiteralPath $resultPath -PathType Leaf)) {
+    throw "M49 T3 result.json is missing"
+}
+$result = Get-Content -LiteralPath $resultPath -Raw | ConvertFrom-Json
+if ($result.status -cne "passed") { throw "M49 T3 qualification did not pass" }
+
+$summary = [ordered]@{
+    schema_version = "missioncore.m49-t3-worker-summary/v1"
+    worker_id = "worker-006"
+    run_id = $RunId
+    image_tag = $imageTag
+    image_id = [string]$image.Id
+    image_size_bytes = [long]$image.Size
+    build_started_utc = $buildStarted.ToString("o")
+    build_wall_seconds = [math]::Round(($buildCompleted - $buildStarted).TotalSeconds, 6)
+    qualification_wall_seconds = [math]::Round(($runCompleted - $runStarted).TotalSeconds, 6)
+    free_memory_gib_before = [math]::Round($freeMemoryGiB, 6)
+    canonical_triton_id = [string]$canonicalTriton.Id
+    canonical_triton_health = [string]$canonicalTriton.State.Health.Status
+    candidate_accepted = $true
+    ravnoves00_quality_accepted = $false
+    realtime_accepted = $false
+    navigation_or_actuation_allowed = $false
+}
+$summary | ConvertTo-Json -Depth 3 | Set-Content -LiteralPath (
+    Join-Path $runOutput "worker-summary.json"
+) -Encoding utf8
+$summary | ConvertTo-Json -Depth 3

experiments/perception/worker/Invoke-M49T3TravelQualificationAsInteractiveUser.ps1

@@ -0,0 +1,62 @@
+[CmdletBinding()]
+param(
+    [Parameter(Mandatory = $true)]
+    [string]$ReleaseRoot,
+    [Parameter(Mandatory = $true)]
+    [ValidatePattern("^[A-Za-z0-9._-]{1,96}$")]
+    [string]$RunId
+)
+
+$ErrorActionPreference = "Stop"
+$taskName = "MissionCore-M49T3Travel"
+$release = (Resolve-Path -LiteralPath $ReleaseRoot).Path
+$payload = Join-Path $release "payload"
+$runner = Join-Path $payload "Invoke-M49T3TravelQualification.ps1"
+if (-not (Test-Path -LiteralPath $runner -PathType Leaf)) {
+    throw "M49 T3 runner is missing"
+}
+
+$existing = Get-ScheduledTask -TaskName $taskName -ErrorAction SilentlyContinue
+if ($existing -and $existing.State -eq "Running") {
+    throw "$taskName is already running"
+}
+
+$powerShell = "$env:SystemRoot\System32\WindowsPowerShell\v1.0\powershell.exe"
+$arguments = @(
+    "-NoLogo", "-NoProfile", "-NonInteractive", "-ExecutionPolicy", "Bypass",
+    "-File", "`"$runner`"",
+    "-BuildContext", "`"$payload`"",
+    "-RunId", "`"$RunId`""
+) -join " "
+$userId = [System.Security.Principal.WindowsIdentity]::GetCurrent().Name
+$action = New-ScheduledTaskAction `
+    -Execute $powerShell `
+    -Argument $arguments `
+    -WorkingDirectory $payload
+$principal = New-ScheduledTaskPrincipal `
+    -UserId $userId `
+    -LogonType Interactive `
+    -RunLevel Limited
+$trigger = New-ScheduledTaskTrigger -Once -At ((Get-Date).AddMinutes(30))
+$settings = New-ScheduledTaskSettingsSet `
+    -AllowStartIfOnBatteries `
+    -DontStopIfGoingOnBatteries `
+    -StartWhenAvailable `
+    -ExecutionTimeLimit ([TimeSpan]::FromHours(3))
+
+Register-ScheduledTask `
+    -TaskName $taskName `
+    -Action $action `
+    -Principal $principal `
+    -Trigger $trigger `
+    -Settings $settings `
+    -Description "One-shot M49 T3 pinned TRAVEL upstream qualification." `
+    -Force | Out-Null
+Start-ScheduledTask -TaskName $taskName
+
+[pscustomobject]@{
+    task_name = $taskName
+    run_id = $RunId
+    release_root = $release
+    state = (Get-ScheduledTask -TaskName $taskName).State.ToString()
+} | ConvertTo-Json -Compress

experiments/perception/worker/Invoke-M49T3TravelRavnovesProbe.ps1

@@ -0,0 +1,205 @@
+[CmdletBinding()]
+param(
+    [Parameter(Mandatory = $true)]
+    [string]$ReleaseRoot,
+    [Parameter(Mandatory = $true)]
+    [ValidatePattern("^[A-Za-z0-9._-]{1,96}$")]
+    [string]$RunId,
+    [string]$SourcePackPath = "D:\NDC_MISSIONCORE\runtime\derived\e10-lidar-pack-576c994a6c814e2592dd6240ace3902a5db94843312c759a73ba0c9166157d2b\lidar-pack.npz",
+    [string]$OutputRoot = "D:\NDC_MISSIONCORE\runtime\results\m49-t3-travel-ravnoves"
+)
+
+$ErrorActionPreference = "Stop"
+$ProgressPreference = "SilentlyContinue"
+
+$TravelImageTag = "ndc/mission-core-m49-t3-travel:20260826"
+$TravelImageId = "sha256:7b412020f4d8392d1d1ed1b33beadc44140f0ea8f781e62dd69796042334300f"
+$ParityImageTag = "ndc-mission-core-m48t-upstream-parity:1.9.4-cu130"
+$ParityImageId = "sha256:ceb13548617e4bd3f619766bfdff00af3fa5160946b367828da6d2233dcdcba0"
+
+function Assert-LastExitCode([string]$Operation) {
+    if ($LASTEXITCODE -ne 0) { throw "$Operation failed with exit code $LASTEXITCODE" }
+}
+
+function Resolve-DDirectory([string]$Path, [string]$Label, [bool]$Create) {
+    if ($Create -and -not (Test-Path -LiteralPath $Path)) {
+        $null = New-Item -ItemType Directory -Path $Path
+    }
+    $item = Get-Item -LiteralPath (Resolve-Path -LiteralPath $Path).Path -Force
+    if (
+        -not $item.PSIsContainer -or
+        ($item.Attributes -band [IO.FileAttributes]::ReparsePoint) -or
+        [IO.Path]::GetPathRoot($item.FullName).TrimEnd("\") -ine "D:"
+    ) {
+        throw "$Label must be a real D: directory"
+    }
+    return $item.FullName
+}
+
+function Resolve-DFile([string]$Path, [string]$Label) {
+    $item = Get-Item -LiteralPath (Resolve-Path -LiteralPath $Path).Path -Force
+    if (
+        $item.PSIsContainer -or
+        ($item.Attributes -band [IO.FileAttributes]::ReparsePoint) -or
+        [IO.Path]::GetPathRoot($item.FullName).TrimEnd("\") -ine "D:"
+    ) {
+        throw "$Label must be a real D: file"
+    }
+    return $item.FullName
+}
+
+function Convert-ToDockerPath([string]$Path) {
+    return ($Path -replace "\\", "/")
+}
+
+function Get-Container([string]$Name) {
+    $rows = @(((& docker inspect $Name) | ConvertFrom-Json))
+    Assert-LastExitCode "Docker inspection for $Name"
+    if ($rows.Count -ne 1) { throw "Container identity for $Name is not unique" }
+    return $rows[0]
+}
+
+function Assert-Image([string]$Tag, [string]$ExpectedId) {
+    $rows = @(((& docker image inspect $Tag) | ConvertFrom-Json))
+    Assert-LastExitCode "Docker image inspection for $Tag"
+    if ($rows.Count -ne 1 -or [string]$rows[0].Id -cne $ExpectedId) {
+        throw "Pinned image identity changed for $Tag"
+    }
+}
+
+function Remove-ExactContainer([string]$Name) {
+    if (& docker ps -a --format "{{.Names}}" --filter "name=^/$Name$") {
+        & docker rm --force $Name *> $null
+    }
+}
+
+if ($env:COMPUTERNAME -cne "DESKTOP-OPJ8J04") {
+    throw "M49 T3 RAVNOVES probe is pinned to Worker 006"
+}
+
+$release = Resolve-DDirectory $ReleaseRoot "M49 T3 probe release" $false
+$payload = Resolve-DDirectory (Join-Path $release "payload") "M49 T3 probe payload" $false
+$sourcePack = Resolve-DFile $SourcePackPath "RAVNOVES00 source pack"
+$output = Resolve-DDirectory $OutputRoot "M49 T3 probe output root" $true
+$runOutputCandidate = Join-Path $output $RunId
+if (Test-Path -LiteralPath $runOutputCandidate) { throw "M49 T3 probe output already exists" }
+$null = New-Item -ItemType Directory -Path $runOutputCandidate
+$runOutput = Resolve-DDirectory $runOutputCandidate "M49 T3 probe run output" $false
+
+$releaseDocument = Get-Content -LiteralPath (Join-Path $payload "release.json") -Raw | ConvertFrom-Json
+if (
+    $releaseDocument.schema_version -cne "missioncore.m49-t3-ravnoves-worker-release/v1" -or
+    $releaseDocument.worker_id -cne "worker-006" -or
+    $releaseDocument.candidate_id -cne "travel"
+) {
+    throw "M49 T3 probe release contract changed"
+}
+foreach ($property in $releaseDocument.files.PSObject.Properties) {
+    $path = Join-Path $payload $property.Name
+    $actual = (Get-FileHash -Algorithm SHA256 -LiteralPath $path).Hash.ToLowerInvariant()
+    if ($actual -cne [string]$property.Value.sha256) {
+        throw "M49 T3 probe payload digest changed: $($property.Name)"
+    }
+}
+$sourcePackSha = (Get-FileHash -Algorithm SHA256 -LiteralPath $sourcePack).Hash.ToLowerInvariant()
+if ($sourcePackSha -cne "0685d24219d8236caf8b7f1685e93f6d6b59e7fd015a768d88a92bbe8b154944") {
+    throw "RAVNOVES00 source pack digest changed"
+}
+
+$os = Get-CimInstance Win32_OperatingSystem
+$freeMemoryGiB = [double]$os.FreePhysicalMemory / 1MB
+if ($freeMemoryGiB -lt 16.0) {
+    throw ("M49 T3 probe requires 16 GiB free memory; observed {0:N2} GiB" -f $freeMemoryGiB)
+}
+$canonicalTritonBefore = Get-Container "ndc-mission-core-triton"
+if (
+    -not $canonicalTritonBefore.State.Running -or
+    $canonicalTritonBefore.State.Health.Status -cne "healthy"
+) {
+    throw "Canonical Mission Core Triton must remain healthy during M49 T3 probe"
+}
+Assert-Image $TravelImageTag $TravelImageId
+Assert-Image $ParityImageTag $ParityImageId
+
+$prepareName = "ndc-mission-core-m49-t3-prepare-$RunId"
+$travelName = "ndc-mission-core-m49-t3-probe-$RunId"
+$analyzeName = "ndc-mission-core-m49-t3-analyze-$RunId"
+foreach ($name in @($prepareName, $travelName, $analyzeName)) {
+    if (& docker ps -a --format "{{.Names}}" --filter "name=^/$name$") {
+        throw "M49 T3 probe container name already exists: $name"
+    }
+}
+
+$started = [DateTimeOffset]::UtcNow
+try {
+    & docker run --rm --name $prepareName --network none --cpus 8 --memory 16g `
+        --entrypoint python3 `
+        --volume ((Convert-ToDockerPath $sourcePack) + ":/source/lidar-pack.npz:ro") `
+        --volume ((Convert-ToDockerPath $payload) + ":/release:ro") `
+        --volume ((Convert-ToDockerPath $runOutput) + ":/probe") `
+        $ParityImageTag /release/prepare_ravnoves_probe.py `
+        --source-pack /source/lidar-pack.npz `
+        --config /release/m49-travel-ravnoves-compatibility-v1.json `
+        --output-root /probe/inputs
+    Assert-LastExitCode "M49 T3 RAVNOVES input preparation"
+
+    & docker run --rm --name $travelName --network none --cpus 16 --memory 24g `
+        --entrypoint /bin/bash `
+        --volume ((Convert-ToDockerPath $payload) + ":/release:ro") `
+        --volume ((Convert-ToDockerPath $runOutput) + ":/probe") `
+        $TravelImageTag /release/run_ravnoves_probe.sh
+    Assert-LastExitCode "M49 T3 RAVNOVES TRAVEL probe"
+
+    & docker run --rm --name $analyzeName --network none --cpus 8 --memory 16g `
+        --entrypoint python3 `
+        --volume ((Convert-ToDockerPath $payload) + ":/release:ro") `
+        --volume ((Convert-ToDockerPath $runOutput) + ":/probe") `
+        $ParityImageTag /release/analyze_ravnoves_probe.py `
+        --probe-root /probe `
+        --config /release/m49-travel-ravnoves-compatibility-v1.json
+    Assert-LastExitCode "M49 T3 RAVNOVES result analysis"
+} finally {
+    foreach ($name in @($prepareName, $travelName, $analyzeName)) {
+        Remove-ExactContainer $name
+    }
+}
+$completed = [DateTimeOffset]::UtcNow
+
+$resultPath = Join-Path $runOutput "result.json"
+if (-not (Test-Path -LiteralPath $resultPath -PathType Leaf)) {
+    throw "M49 T3 RAVNOVES result.json is missing"
+}
+$result = Get-Content -LiteralPath $resultPath -Raw | ConvertFrom-Json
+if ($result.status -cne "passed") { throw "M49 T3 RAVNOVES probe did not complete" }
+$canonicalTritonAfter = Get-Container "ndc-mission-core-triton"
+if (
+    -not $canonicalTritonAfter.State.Running -or
+    $canonicalTritonAfter.State.Health.Status -cne "healthy" -or
+    [string]$canonicalTritonAfter.Id -cne [string]$canonicalTritonBefore.Id
+) {
+    throw "Canonical Mission Core Triton changed during M49 T3 probe"
+}
+
+$summary = [ordered]@{
+    schema_version = "missioncore.m49-t3-ravnoves-worker-summary/v1"
+    worker_id = "worker-006"
+    run_id = $RunId
+    code_revision = [string]$releaseDocument.code_revision
+    travel_image_id = $TravelImageId
+    parity_image_id = $ParityImageId
+    source_pack_sha256 = $sourcePackSha
+    started_utc = $started.ToString("o")
+    wall_seconds = [math]::Round(($completed - $started).TotalSeconds, 6)
+    free_memory_gib_before = [math]::Round($freeMemoryGiB, 6)
+    canonical_triton_id = [string]$canonicalTritonAfter.Id
+    canonical_triton_health = [string]$canonicalTritonAfter.State.Health.Status
+    candidate_run_count = [int]$result.candidate_run_count
+    direct_upstream_profile_compatible = [bool]$result.summary.direct_upstream_profile_compatible
+    ravnoves00_visual_quality_accepted = $false
+    realtime_accepted = $false
+    navigation_or_actuation_allowed = $false
+}
+$summary | ConvertTo-Json -Depth 3 | Set-Content -LiteralPath (
+    Join-Path $runOutput "worker-summary.json"
+) -Encoding utf8
+$summary | ConvertTo-Json -Depth 3

experiments/perception/worker/Invoke-M49T3TravelRavnovesProbeAsInteractiveUser.ps1

@@ -0,0 +1,61 @@
+[CmdletBinding()]
+param(
+    [Parameter(Mandatory = $true)]
+    [string]$ReleaseRoot,
+    [Parameter(Mandatory = $true)]
+    [ValidatePattern("^[A-Za-z0-9._-]{1,96}$")]
+    [string]$RunId
+)
+
+$ErrorActionPreference = "Stop"
+$taskName = "MissionCore-M49T3TravelRavnoves"
+$release = (Resolve-Path -LiteralPath $ReleaseRoot).Path
+$runner = Join-Path $release "payload\Invoke-M49T3TravelRavnovesProbe.ps1"
+if (-not (Test-Path -LiteralPath $runner -PathType Leaf)) {
+    throw "M49 T3 RAVNOVES runner is missing"
+}
+
+$existing = Get-ScheduledTask -TaskName $taskName -ErrorAction SilentlyContinue
+if ($existing -and $existing.State -eq "Running") {
+    throw "$taskName is already running"
+}
+
+$powerShell = "$env:SystemRoot\System32\WindowsPowerShell\v1.0\powershell.exe"
+$arguments = @(
+    "-NoLogo", "-NoProfile", "-NonInteractive", "-ExecutionPolicy", "Bypass",
+    "-File", "`"$runner`"",
+    "-ReleaseRoot", "`"$release`"",
+    "-RunId", "`"$RunId`""
+) -join " "
+$userId = [System.Security.Principal.WindowsIdentity]::GetCurrent().Name
+$action = New-ScheduledTaskAction `
+    -Execute $powerShell `
+    -Argument $arguments `
+    -WorkingDirectory $release
+$principal = New-ScheduledTaskPrincipal `
+    -UserId $userId `
+    -LogonType Interactive `
+    -RunLevel Limited
+$trigger = New-ScheduledTaskTrigger -Once -At ((Get-Date).AddMinutes(30))
+$settings = New-ScheduledTaskSettingsSet `
+    -AllowStartIfOnBatteries `
+    -DontStopIfGoingOnBatteries `
+    -StartWhenAvailable `
+    -ExecutionTimeLimit ([TimeSpan]::FromHours(2))
+
+Register-ScheduledTask `
+    -TaskName $taskName `
+    -Action $action `
+    -Principal $principal `
+    -Trigger $trigger `
+    -Settings $settings `
+    -Description "One-shot CPU-only M49 T3 TRAVEL compatibility probe on RAVNOVES00." `
+    -Force | Out-Null
+Start-ScheduledTask -TaskName $taskName
+
+[pscustomobject]@{
+    task_name = $taskName
+    run_id = $RunId
+    release_root = $release
+    state = (Get-ScheduledTask -TaskName $taskName).State.ToString()
+} | ConvertTo-Json -Compress

experiments/perception/worker/Invoke-M49TgsFailClosedEvidence.ps1

@@ -0,0 +1,205 @@
+[CmdletBinding()]
+param(
+    [Parameter(Mandatory = $true)]
+    [string]$ReleaseRoot,
+    [Parameter(Mandatory = $true)]
+    [ValidatePattern("^[A-Za-z0-9._-]{1,96}$")]
+    [string]$RunId,
+    [string]$SourcePackPath = "D:\NDC_MISSIONCORE\runtime\derived\e10-lidar-pack-576c994a6c814e2592dd6240ace3902a5db94843312c759a73ba0c9166157d2b\lidar-pack.npz",
+    [string]$OutputRoot = "D:\NDC_MISSIONCORE\runtime\results\m49-tgs-fail-closed"
+)
+
+$ErrorActionPreference = "Stop"
+$ProgressPreference = "SilentlyContinue"
+$TravelImageTag = "ndc/mission-core-m49-t3-travel:20260826"
+$TravelImageId = "sha256:7b412020f4d8392d1d1ed1b33beadc44140f0ea8f781e62dd69796042334300f"
+$ParityImageTag = "ndc-mission-core-m48t-upstream-parity:1.9.4-cu130"
+$ParityImageId = "sha256:ceb13548617e4bd3f619766bfdff00af3fa5160946b367828da6d2233dcdcba0"
+
+function Assert-LastExitCode([string]$Operation) {
+    if ($LASTEXITCODE -ne 0) { throw "$Operation failed with exit code $LASTEXITCODE" }
+}
+
+function Resolve-DDirectory([string]$Path, [string]$Label, [bool]$Create) {
+    if ($Create -and -not (Test-Path -LiteralPath $Path)) {
+        $null = New-Item -ItemType Directory -Path $Path
+    }
+    $item = Get-Item -LiteralPath (Resolve-Path -LiteralPath $Path).Path -Force
+    if (
+        -not $item.PSIsContainer -or
+        ($item.Attributes -band [IO.FileAttributes]::ReparsePoint) -or
+        [IO.Path]::GetPathRoot($item.FullName).TrimEnd("\") -ine "D:"
+    ) {
+        throw "$Label must be a real D: directory"
+    }
+    return $item.FullName
+}
+
+function Resolve-DFile([string]$Path, [string]$Label) {
+    $item = Get-Item -LiteralPath (Resolve-Path -LiteralPath $Path).Path -Force
+    if (
+        $item.PSIsContainer -or
+        ($item.Attributes -band [IO.FileAttributes]::ReparsePoint) -or
+        [IO.Path]::GetPathRoot($item.FullName).TrimEnd("\") -ine "D:"
+    ) {
+        throw "$Label must be a real D: file"
+    }
+    return $item.FullName
+}
+
+function Convert-ToDockerPath([string]$Path) {
+    return ($Path -replace "\\", "/")
+}
+
+function Get-Container([string]$Name) {
+    $rows = @(((& docker inspect $Name) | ConvertFrom-Json))
+    Assert-LastExitCode "Docker inspection for $Name"
+    if ($rows.Count -ne 1) { throw "Container identity for $Name is not unique" }
+    return $rows[0]
+}
+
+function Assert-Image([string]$Tag, [string]$ExpectedId) {
+    $rows = @(((& docker image inspect $Tag) | ConvertFrom-Json))
+    Assert-LastExitCode "Docker image inspection for $Tag"
+    if ($rows.Count -ne 1 -or [string]$rows[0].Id -cne $ExpectedId) {
+        throw "Pinned image identity changed for $Tag"
+    }
+}
+
+function Remove-ExactContainer([string]$Name) {
+    if (& docker ps -a --format "{{.Names}}" --filter "name=^/$Name$") {
+        & docker rm --force $Name *> $null
+    }
+}
+
+if ($env:COMPUTERNAME -cne "DESKTOP-OPJ8J04") {
+    throw "M49 TGS fail-closed evidence is pinned to Worker 006"
+}
+$release = Resolve-DDirectory $ReleaseRoot "M49 TGS release" $false
+$payload = Resolve-DDirectory (Join-Path $release "payload") "M49 TGS payload" $false
+$sourcePack = Resolve-DFile $SourcePackPath "RAVNOVES00 source pack"
+$output = Resolve-DDirectory $OutputRoot "M49 TGS output root" $true
+$runCandidate = Join-Path $output $RunId
+if (Test-Path -LiteralPath $runCandidate) { throw "M49 TGS output already exists" }
+$null = New-Item -ItemType Directory -Path $runCandidate
+$runOutput = Resolve-DDirectory $runCandidate "M49 TGS run output" $false
+
+$releaseDocument = Get-Content -LiteralPath (Join-Path $payload "release.json") -Raw | ConvertFrom-Json
+if (
+    $releaseDocument.schema_version -cne "missioncore.m49-tgs-worker-release/v1" -or
+    $releaseDocument.worker_id -cne "worker-006" -or
+    $releaseDocument.candidate_id -cne "travel-tgs-only"
+) {
+    throw "M49 TGS release contract changed"
+}
+foreach ($property in $releaseDocument.files.PSObject.Properties) {
+    $path = Join-Path $payload $property.Name
+    $actual = (Get-FileHash -Algorithm SHA256 -LiteralPath $path).Hash.ToLowerInvariant()
+    if ($actual -cne [string]$property.Value.sha256) {
+        throw "M49 TGS payload digest changed: $($property.Name)"
+    }
+}
+$sourcePackSha = (Get-FileHash -Algorithm SHA256 -LiteralPath $sourcePack).Hash.ToLowerInvariant()
+if ($sourcePackSha -cne "0685d24219d8236caf8b7f1685e93f6d6b59e7fd015a768d88a92bbe8b154944") {
+    throw "RAVNOVES00 source pack digest changed"
+}
+$os = Get-CimInstance Win32_OperatingSystem
+$freeMemoryGiB = [double]$os.FreePhysicalMemory / 1MB
+if ($freeMemoryGiB -lt 16.0) {
+    throw ("M49 TGS requires 16 GiB free memory; observed {0:N2} GiB" -f $freeMemoryGiB)
+}
+$tritonBefore = Get-Container "ndc-mission-core-triton"
+if (-not $tritonBefore.State.Running -or $tritonBefore.State.Health.Status -cne "healthy") {
+    throw "Canonical Mission Core Triton must remain healthy during M49 TGS"
+}
+Assert-Image $TravelImageTag $TravelImageId
+Assert-Image $ParityImageTag $ParityImageId
+
+$prepareName = "ndc-mission-core-m49-tgs-prepare-$RunId"
+$runName = "ndc-mission-core-m49-tgs-run-$RunId"
+$analyzeName = "ndc-mission-core-m49-tgs-analyze-$RunId"
+foreach ($name in @($prepareName, $runName, $analyzeName)) {
+    if (& docker ps -a --format "{{.Names}}" --filter "name=^/$name$") {
+        throw "M49 TGS container name already exists: $name"
+    }
+}
+
+$started = [DateTimeOffset]::UtcNow
+try {
+    & docker run --rm --name $prepareName --network none --cpus 8 --memory 16g `
+        --entrypoint python3 `
+        --volume ((Convert-ToDockerPath $sourcePack) + ":/source/lidar-pack.npz:ro") `
+        --volume ((Convert-ToDockerPath $payload) + ":/release:ro") `
+        --volume ((Convert-ToDockerPath $runOutput) + ":/tgs") `
+        $ParityImageTag /release/prepare_tgs_fail_closed_inputs.py `
+        --source-pack /source/lidar-pack.npz `
+        --config /release/m49-tgs-fail-closed-evidence-v1.json `
+        --output-root /tgs/inputs
+    Assert-LastExitCode "M49 TGS input preparation"
+
+    & docker run --rm --name $runName --network none --cpus 16 --memory 24g `
+        --entrypoint /bin/bash `
+        --volume ((Convert-ToDockerPath $payload) + ":/release:ro") `
+        --volume ((Convert-ToDockerPath $runOutput) + ":/tgs") `
+        $TravelImageTag /release/run_tgs_fail_closed.sh
+    Assert-LastExitCode "M49 TGS-only run"
+
+    & docker run --rm --name $analyzeName --network none --cpus 8 --memory 16g `
+        --entrypoint python3 `
+        --volume ((Convert-ToDockerPath $payload) + ":/release:ro") `
+        --volume ((Convert-ToDockerPath $runOutput) + ":/tgs") `
+        $ParityImageTag /release/build_tgs_fail_closed_evidence.py `
+        --run-root /tgs `
+        --config /release/m49-tgs-fail-closed-evidence-v1.json `
+        --output-root /tgs/evidence
+    Assert-LastExitCode "M49 TGS fail-closed evidence analysis"
+} finally {
+    foreach ($name in @($prepareName, $runName, $analyzeName)) {
+        Remove-ExactContainer $name
+    }
+}
+$completed = [DateTimeOffset]::UtcNow
+
+$resultPath = Join-Path $runOutput "evidence\result.json"
+if (-not (Test-Path -LiteralPath $resultPath -PathType Leaf)) {
+    throw "M49 TGS evidence result is missing"
+}
+$result = Get-Content -LiteralPath $resultPath -Raw | ConvertFrom-Json
+if (
+    $result.status -cne "passed" -or
+    -not [bool]$result.summary.all_eligible_points_accounted -or
+    [bool]$result.summary.aos_used
+) {
+    throw "M49 TGS fail-closed acceptance failed"
+}
+$tritonAfter = Get-Container "ndc-mission-core-triton"
+if (
+    -not $tritonAfter.State.Running -or
+    $tritonAfter.State.Health.Status -cne "healthy" -or
+    [string]$tritonAfter.Id -cne [string]$tritonBefore.Id
+) {
+    throw "Canonical Mission Core Triton changed during M49 TGS"
+}
+$summary = [ordered]@{
+    schema_version = "missioncore.m49-tgs-worker-summary/v1"
+    worker_id = "worker-006"
+    run_id = $RunId
+    code_revision = [string]$releaseDocument.code_revision
+    source_pack_sha256 = $sourcePackSha
+    travel_image_id = $TravelImageId
+    parity_image_id = $ParityImageId
+    started_utc = $started.ToString("o")
+    wall_seconds = [math]::Round(($completed - $started).TotalSeconds, 6)
+    free_memory_gib_before = [math]::Round($freeMemoryGiB, 6)
+    canonical_triton_id = [string]$tritonAfter.Id
+    canonical_triton_health = [string]$tritonAfter.State.Health.Status
+    all_eligible_points_accounted = [bool]$result.summary.all_eligible_points_accounted
+    aos_used = [bool]$result.summary.aos_used
+    visual_quality_accepted = $false
+    realtime_accepted = $false
+    navigation_or_actuation_allowed = $false
+}
+$summary | ConvertTo-Json -Depth 3 | Set-Content -LiteralPath (
+    Join-Path $runOutput "worker-summary.json"
+) -Encoding utf8
+$summary | ConvertTo-Json -Depth 3

experiments/perception/worker/Invoke-M49TgsFailClosedEvidenceAsInteractiveUser.ps1

@@ -0,0 +1,51 @@
+[CmdletBinding()]
+param(
+    [Parameter(Mandatory = $true)]
+    [string]$ReleaseRoot,
+    [Parameter(Mandatory = $true)]
+    [ValidatePattern("^[A-Za-z0-9._-]{1,96}$")]
+    [string]$RunId
+)
+
+$ErrorActionPreference = "Stop"
+$taskName = "MissionCore-M49TgsFailClosed"
+$release = (Resolve-Path -LiteralPath $ReleaseRoot).Path
+$runner = Join-Path $release "payload\Invoke-M49TgsFailClosedEvidence.ps1"
+if (-not (Test-Path -LiteralPath $runner -PathType Leaf)) {
+    throw "M49 TGS runner is missing"
+}
+$existing = Get-ScheduledTask -TaskName $taskName -ErrorAction SilentlyContinue
+if ($existing -and $existing.State -eq "Running") {
+    throw "$taskName is already running"
+}
+$powerShell = "$env:SystemRoot\System32\WindowsPowerShell\v1.0\powershell.exe"
+$arguments = @(
+    "-NoLogo", "-NoProfile", "-NonInteractive", "-ExecutionPolicy", "Bypass",
+    "-File", "`"$runner`"",
+    "-ReleaseRoot", "`"$release`"",
+    "-RunId", "`"$RunId`""
+) -join " "
+$userId = [System.Security.Principal.WindowsIdentity]::GetCurrent().Name
+$action = New-ScheduledTaskAction -Execute $powerShell -Argument $arguments -WorkingDirectory $release
+$principal = New-ScheduledTaskPrincipal -UserId $userId -LogonType Interactive -RunLevel Limited
+$trigger = New-ScheduledTaskTrigger -Once -At ((Get-Date).AddMinutes(30))
+$settings = New-ScheduledTaskSettingsSet `
+    -AllowStartIfOnBatteries `
+    -DontStopIfGoingOnBatteries `
+    -StartWhenAvailable `
+    -ExecutionTimeLimit ([TimeSpan]::FromHours(2))
+Register-ScheduledTask `
+    -TaskName $taskName `
+    -Action $action `
+    -Principal $principal `
+    -Trigger $trigger `
+    -Settings $settings `
+    -Description "One-shot CPU-only gravity-aligned TGS fail-closed evidence run." `
+    -Force | Out-Null
+Start-ScheduledTask -TaskName $taskName
+[pscustomobject]@{
+    task_name = $taskName
+    run_id = $RunId
+    release_root = $release
+    state = (Get-ScheduledTask -TaskName $taskName).State.ToString()
+} | ConvertTo-Json -Compress

experiments/perception/worker/Invoke-M49TgsFullShadow.ps1

@@ -0,0 +1,187 @@
+[CmdletBinding()]
+param(
+    [Parameter(Mandatory = $true)]
+    [string]$ReleaseRoot,
+    [Parameter(Mandatory = $true)]
+    [ValidatePattern("^[A-Za-z0-9._-]{1,96}$")]
+    [string]$RunId,
+    [string]$SourcePackPath = "D:\NDC_MISSIONCORE\runtime\derived\e10-lidar-pack-576c994a6c814e2592dd6240ace3902a5db94843312c759a73ba0c9166157d2b\lidar-pack.npz",
+    [string]$OutputRoot = "D:\NDC_MISSIONCORE\runtime\results\m49-tgs-full-shadow"
+)
+
+$ErrorActionPreference = "Stop"
+$ProgressPreference = "SilentlyContinue"
+$TravelImageTag = "ndc/mission-core-m49-t3-travel:20260826"
+$TravelImageId = "sha256:7b412020f4d8392d1d1ed1b33beadc44140f0ea8f781e62dd69796042334300f"
+$ParityImageTag = "ndc-mission-core-m48t-upstream-parity:1.9.4-cu130"
+$ParityImageId = "sha256:ceb13548617e4bd3f619766bfdff00af3fa5160946b367828da6d2233dcdcba0"
+
+function Assert-LastExitCode([string]$Operation) {
+    if ($LASTEXITCODE -ne 0) { throw "$Operation failed with exit code $LASTEXITCODE" }
+}
+
+function Resolve-DDirectory([string]$Path, [string]$Label, [bool]$Create) {
+    if ($Create -and -not (Test-Path -LiteralPath $Path)) {
+        $null = New-Item -ItemType Directory -Path $Path
+    }
+    $item = Get-Item -LiteralPath (Resolve-Path -LiteralPath $Path).Path -Force
+    if (
+        -not $item.PSIsContainer -or
+        ($item.Attributes -band [IO.FileAttributes]::ReparsePoint) -or
+        [IO.Path]::GetPathRoot($item.FullName).TrimEnd("\") -ine "D:"
+    ) { throw "$Label must be a real D: directory" }
+    return $item.FullName
+}
+
+function Resolve-DFile([string]$Path, [string]$Label) {
+    $item = Get-Item -LiteralPath (Resolve-Path -LiteralPath $Path).Path -Force
+    if (
+        $item.PSIsContainer -or
+        ($item.Attributes -band [IO.FileAttributes]::ReparsePoint) -or
+        [IO.Path]::GetPathRoot($item.FullName).TrimEnd("\") -ine "D:"
+    ) { throw "$Label must be a real D: file" }
+    return $item.FullName
+}
+
+function Convert-ToDockerPath([string]$Path) { return ($Path -replace "\\", "/") }
+
+function Get-Container([string]$Name) {
+    $rows = @(((& docker inspect $Name) | ConvertFrom-Json))
+    Assert-LastExitCode "Docker inspection for $Name"
+    if ($rows.Count -ne 1) { throw "Container identity for $Name is not unique" }
+    return $rows[0]
+}
+
+function Assert-Image([string]$Tag, [string]$ExpectedId) {
+    $rows = @(((& docker image inspect $Tag) | ConvertFrom-Json))
+    Assert-LastExitCode "Docker image inspection for $Tag"
+    if ($rows.Count -ne 1 -or [string]$rows[0].Id -cne $ExpectedId) {
+        throw "Pinned image identity changed for $Tag"
+    }
+}
+
+function Remove-ExactContainer([string]$Name) {
+    if (& docker ps -a --format "{{.Names}}" --filter "name=^/$Name$") {
+        & docker rm --force $Name *> $null
+    }
+}
+
+if ($env:COMPUTERNAME -cne "DESKTOP-OPJ8J04") { throw "M49 TGS full shadow is pinned to Worker 006" }
+$release = Resolve-DDirectory $ReleaseRoot "M49 TGS full-shadow release" $false
+$payload = Resolve-DDirectory (Join-Path $release "payload") "M49 TGS full-shadow payload" $false
+$sourcePack = Resolve-DFile $SourcePackPath "RAVNOVES00 source pack"
+$output = Resolve-DDirectory $OutputRoot "M49 TGS full-shadow output root" $true
+$runCandidate = Join-Path $output $RunId
+if (Test-Path -LiteralPath $runCandidate) { throw "M49 TGS full-shadow output already exists" }
+$null = New-Item -ItemType Directory -Path $runCandidate
+$runOutput = Resolve-DDirectory $runCandidate "M49 TGS full-shadow run output" $false
+
+$releaseDocument = Get-Content -LiteralPath (Join-Path $payload "release.json") -Raw | ConvertFrom-Json
+if (
+    $releaseDocument.schema_version -cne "missioncore.m49-tgs-full-shadow-worker-release/v1" -or
+    $releaseDocument.worker_id -cne "worker-006" -or
+    $releaseDocument.candidate_id -cne "travel-tgs-full-shadow"
+) { throw "M49 TGS full-shadow release contract changed" }
+foreach ($property in $releaseDocument.files.PSObject.Properties) {
+    $path = Join-Path $payload $property.Name
+    $actual = (Get-FileHash -Algorithm SHA256 -LiteralPath $path).Hash.ToLowerInvariant()
+    if ($actual -cne [string]$property.Value.sha256) {
+        throw "M49 TGS full-shadow payload digest changed: $($property.Name)"
+    }
+}
+$sourcePackSha = (Get-FileHash -Algorithm SHA256 -LiteralPath $sourcePack).Hash.ToLowerInvariant()
+if ($sourcePackSha -cne "0685d24219d8236caf8b7f1685e93f6d6b59e7fd015a768d88a92bbe8b154944") {
+    throw "RAVNOVES00 source pack digest changed"
+}
+$os = Get-CimInstance Win32_OperatingSystem
+$freeMemoryGiB = [double]$os.FreePhysicalMemory / 1MB
+if ($freeMemoryGiB -lt 24.0) {
+    throw ("M49 TGS full shadow requires 24 GiB free memory; observed {0:N2} GiB" -f $freeMemoryGiB)
+}
+$tritonBefore = Get-Container "ndc-mission-core-triton"
+if (-not $tritonBefore.State.Running -or $tritonBefore.State.Health.Status -cne "healthy") {
+    throw "Canonical Mission Core Triton must remain healthy during M49 TGS full shadow"
+}
+Assert-Image $TravelImageTag $TravelImageId
+Assert-Image $ParityImageTag $ParityImageId
+
+$prepareName = "ndc-mission-core-m49-tgs-full-prepare-$RunId"
+$runName = "ndc-mission-core-m49-tgs-full-run-$RunId"
+$analyzeName = "ndc-mission-core-m49-tgs-full-analyze-$RunId"
+foreach ($name in @($prepareName, $runName, $analyzeName)) {
+    if (& docker ps -a --format "{{.Names}}" --filter "name=^/$name$") {
+        throw "M49 TGS full-shadow container name already exists: $name"
+    }
+}
+
+$started = [DateTimeOffset]::UtcNow
+try {
+    & docker run --rm --name $prepareName --network none --cpus 8 --memory 16g `
+        --entrypoint python3 `
+        --volume ((Convert-ToDockerPath $sourcePack) + ":/source/lidar-pack.npz:ro") `
+        --volume ((Convert-ToDockerPath $payload) + ":/release:ro") `
+        --volume ((Convert-ToDockerPath $runOutput) + ":/tgs") `
+        $ParityImageTag /release/prepare_tgs_full_shadow_inputs.py `
+        --source-pack /source/lidar-pack.npz `
+        --config /release/m49-tgs-full-shadow-v1.json `
+        --output-root /tgs/inputs
+    Assert-LastExitCode "M49 TGS full-shadow input preparation"
+
+    & docker run --rm --name $runName --network none --cpus 16 --memory 24g `
+        --entrypoint /bin/bash `
+        --volume ((Convert-ToDockerPath $payload) + ":/release:ro") `
+        --volume ((Convert-ToDockerPath $runOutput) + ":/tgs") `
+        $TravelImageTag /release/run_tgs_full_shadow.sh
+    Assert-LastExitCode "M49 source-paced TGS full-shadow run"
+
+    & docker run --rm --name $analyzeName --network none --cpus 8 --memory 16g `
+        --entrypoint python3 `
+        --volume ((Convert-ToDockerPath $payload) + ":/release:ro") `
+        --volume ((Convert-ToDockerPath $runOutput) + ":/tgs") `
+        $ParityImageTag /release/build_tgs_full_shadow_evidence.py `
+        --run-root /tgs `
+        --config /release/m49-tgs-full-shadow-v1.json `
+        --output-root /tgs/evidence
+    Assert-LastExitCode "M49 TGS full-shadow evidence analysis"
+} finally {
+    foreach ($name in @($prepareName, $runName, $analyzeName)) { Remove-ExactContainer $name }
+}
+$completed = [DateTimeOffset]::UtcNow
+$resultPath = Join-Path $runOutput "evidence\result.json"
+if (-not (Test-Path -LiteralPath $resultPath -PathType Leaf)) { throw "M49 TGS full-shadow result is missing" }
+$result = Get-Content -LiteralPath $resultPath -Raw | ConvertFrom-Json
+if (
+    $result.timeline.frame_count -ne 4489 -or
+    $result.timeline.available_lidar_frame_count -ne 3928 -or
+    $result.timeline.missing_lidar_frame_count -ne 561 -or
+    $result.point_accounting.unaccounted -ne 0
+) { throw "M49 TGS full-shadow structural acceptance failed" }
+$tritonAfter = Get-Container "ndc-mission-core-triton"
+if (
+    -not $tritonAfter.State.Running -or
+    $tritonAfter.State.Health.Status -cne "healthy" -or
+    [string]$tritonAfter.Id -cne [string]$tritonBefore.Id
+) { throw "Canonical Mission Core Triton changed during M49 TGS full shadow" }
+$summary = [ordered]@{
+    schema_version = "missioncore.m49-tgs-full-shadow-worker-summary/v1"
+    worker_id = "worker-006"
+    run_id = $RunId
+    code_revision = [string]$releaseDocument.code_revision
+    source_pack_sha256 = $sourcePackSha
+    travel_image_id = $TravelImageId
+    parity_image_id = $ParityImageId
+    started_utc = $started.ToString("o")
+    wall_seconds = [math]::Round(($completed - $started).TotalSeconds, 6)
+    free_memory_gib_before = [math]::Round($freeMemoryGiB, 6)
+    canonical_triton_id = [string]$tritonAfter.Id
+    canonical_triton_health = [string]$tritonAfter.State.Health.Status
+    result_status = [string]$result.status
+    all_timeline_frames_accounted = $true
+    all_eligible_points_accounted = $true
+    aos_used = $false
+    gpu_requested = $false
+    integrated_graph_performance_accepted = $false
+    navigation_or_actuation_allowed = $false
+}
+$summary | ConvertTo-Json -Depth 3 | Set-Content -LiteralPath (Join-Path $runOutput "worker-summary.json") -Encoding utf8
+$summary | ConvertTo-Json -Depth 3

experiments/perception/worker/Invoke-M49TgsFullShadowAsInteractiveUser.ps1

@@ -0,0 +1,45 @@
+[CmdletBinding()]
+param(
+    [Parameter(Mandatory = $true)]
+    [string]$ReleaseRoot,
+    [Parameter(Mandatory = $true)]
+    [ValidatePattern("^[A-Za-z0-9._-]{1,96}$")]
+    [string]$RunId
+)
+
+$ErrorActionPreference = "Stop"
+$taskName = "MissionCore-M49TgsFullShadow"
+$release = (Resolve-Path -LiteralPath $ReleaseRoot).Path
+$runner = Join-Path $release "payload\Invoke-M49TgsFullShadow.ps1"
+if (-not (Test-Path -LiteralPath $runner -PathType Leaf)) { throw "M49 TGS full-shadow runner is missing" }
+$existing = Get-ScheduledTask -TaskName $taskName -ErrorAction SilentlyContinue
+if ($existing -and $existing.State -eq "Running") { throw "$taskName is already running" }
+$powerShell = "$env:SystemRoot\System32\WindowsPowerShell\v1.0\powershell.exe"
+$arguments = @(
+    "-NoLogo", "-NoProfile", "-NonInteractive", "-ExecutionPolicy", "Bypass",
+    "-File", "`"$runner`"", "-ReleaseRoot", "`"$release`"", "-RunId", "`"$RunId`""
+) -join " "
+$userId = [System.Security.Principal.WindowsIdentity]::GetCurrent().Name
+$action = New-ScheduledTaskAction -Execute $powerShell -Argument $arguments -WorkingDirectory $release
+$principal = New-ScheduledTaskPrincipal -UserId $userId -LogonType Interactive -RunLevel Limited
+$trigger = New-ScheduledTaskTrigger -Once -At ((Get-Date).AddMinutes(30))
+$settings = New-ScheduledTaskSettingsSet `
+    -AllowStartIfOnBatteries `
+    -DontStopIfGoingOnBatteries `
+    -StartWhenAvailable `
+    -ExecutionTimeLimit ([TimeSpan]::FromHours(2))
+Register-ScheduledTask `
+    -TaskName $taskName `
+    -Action $action `
+    -Principal $principal `
+    -Trigger $trigger `
+    -Settings $settings `
+    -Description "One-shot CPU-only source-paced TGS full shadow." `
+    -Force | Out-Null
+Start-ScheduledTask -TaskName $taskName
+[pscustomobject]@{
+    task_name = $taskName
+    run_id = $RunId
+    release_root = $release
+    state = (Get-ScheduledTask -TaskName $taskName).State.ToString()
+} | ConvertTo-Json -Compress

experiments/perception/worker/Invoke-M49TgsIntegratedGraphShadow.ps1

@@ -0,0 +1,455 @@
+[CmdletBinding()]
+param(
+    [Parameter(Mandatory = $true)]
+    [string]$ReleaseRoot,
+    [Parameter(Mandatory = $true)]
+    [string]$CandidateRoot,
+    [Parameter(Mandatory = $true)]
+    [ValidatePattern("^[a-f0-9]{64}$")]
+    [string]$ExpectedArtifactSha256,
+    [Parameter(Mandatory = $true)]
+    [ValidatePattern("^[A-Za-z0-9._-]{1,96}$")]
+    [string]$RunId,
+    [ValidateRange(1.0, 120.0)]
+    [double]$SourceRateHz = 12.0,
+    [string]$OutputRoot = (
+        "D:\NDC_MISSIONCORE\runtime\results\m49-tgs-integrated-graph-shadow"
+    )
+)
+
+$ErrorActionPreference = "Stop"
+$ProgressPreference = "SilentlyContinue"
+$TravelImageTag = "ndc/mission-core-m49-t3-travel:20260826"
+$TravelImageId = "sha256:7b412020f4d8392d1d1ed1b33beadc44140f0ea8f781e62dd69796042334300f"
+$ParityImageTag = "ndc-mission-core-m48t-upstream-parity:1.9.4-cu130"
+$ParityImageId = "sha256:ceb13548617e4bd3f619766bfdff00af3fa5160946b367828da6d2233dcdcba0"
+$RuntimeImage = (
+    "nvcr.io/nvidia/tritonserver:26.06-py3@" +
+    "sha256:58df7489c3f2276f9591d500a012dee03e23d35543ce3c390b4c001e6bf90794"
+)
+
+function Assert-LastExitCode([string]$Operation) {
+    if ($LASTEXITCODE -ne 0) { throw "$Operation failed with exit code $LASTEXITCODE" }
+}
+
+function Get-Sha256([string]$Path) {
+    return (Get-FileHash -LiteralPath $Path -Algorithm SHA256).Hash.ToLowerInvariant()
+}
+
+function Resolve-DDirectory([string]$Path, [string]$Label, [bool]$Create) {
+    if ($Create -and -not (Test-Path -LiteralPath $Path)) {
+        $null = New-Item -ItemType Directory -Path $Path
+    }
+    $item = Get-Item -LiteralPath (Resolve-Path -LiteralPath $Path).Path -Force
+    if (
+        -not $item.PSIsContainer -or
+        ($item.Attributes -band [IO.FileAttributes]::ReparsePoint) -or
+        [IO.Path]::GetPathRoot($item.FullName).TrimEnd("\") -ine "D:"
+    ) { throw "$Label must be a real D: directory" }
+    return $item.FullName
+}
+
+function Resolve-DFile([string]$Path, [string]$Label) {
+    $item = Get-Item -LiteralPath (Resolve-Path -LiteralPath $Path).Path -Force
+    if (
+        $item.PSIsContainer -or
+        ($item.Attributes -band [IO.FileAttributes]::ReparsePoint) -or
+        [IO.Path]::GetPathRoot($item.FullName).TrimEnd("\") -ine "D:"
+    ) { throw "$Label must be a real D: file" }
+    return $item.FullName
+}
+
+function Convert-ToDockerPath([string]$Path) { return ($Path -replace "\\", "/") }
+
+function Get-Container([string]$Name) {
+    $rows = @(((& docker inspect $Name) | ConvertFrom-Json))
+    Assert-LastExitCode "Docker inspection for $Name"
+    if ($rows.Count -ne 1) { throw "Container identity for $Name is not unique" }
+    return $rows[0]
+}
+
+function Assert-Image([string]$Tag, [string]$ExpectedId) {
+    $rows = @(((& docker image inspect $Tag) | ConvertFrom-Json))
+    Assert-LastExitCode "Docker image inspection for $Tag"
+    if ($rows.Count -ne 1 -or [string]$rows[0].Id -cne $ExpectedId) {
+        throw "Pinned image identity changed for $Tag"
+    }
+}
+
+function Remove-ExactContainer([string]$Name) {
+    if (& docker ps -a --format "{{.Names}}" --filter "name=^/$Name$") {
+        & docker rm --force $Name *> $null
+    }
+}
+
+function Wait-Healthy([string]$Name) {
+    foreach ($attempt in 1..60) {
+        Start-Sleep -Seconds 2
+        $container = Get-Container $Name
+        if (-not $container.State.Running) {
+            & docker logs $Name
+            throw "$Name stopped during startup"
+        }
+        if ($container.State.Health.Status -ceq "healthy") { return }
+    }
+    throw "$Name did not become healthy"
+}
+
+function Wait-SharedReady(
+    [string]$GraphReady,
+    [string]$TgsReady,
+    [string]$GraphName,
+    [string]$TgsName
+) {
+    $deadline = [DateTimeOffset]::UtcNow.AddMinutes(10)
+    while (-not ((Test-Path -LiteralPath $GraphReady) -and (Test-Path -LiteralPath $TgsReady))) {
+        foreach ($name in @($GraphName, $TgsName)) {
+            $container = Get-Container $name
+            if (-not $container.State.Running) {
+                & docker logs $name
+                throw "$name stopped before shared-start readiness"
+            }
+        }
+        if ([DateTimeOffset]::UtcNow -ge $deadline) {
+            throw "M49 integrated shared-start readiness timed out"
+        }
+        Start-Sleep -Milliseconds 250
+    }
+}
+
+if ($env:COMPUTERNAME -cne "DESKTOP-OPJ8J04") {
+    throw "M49 integrated TGS graph shadow is pinned to Worker 006"
+}
+$release = Resolve-DDirectory $ReleaseRoot "M49 integrated release root" $false
+$payload = Resolve-DDirectory (Join-Path $release "payload") "M49 integrated payload" $false
+$candidate = Resolve-DDirectory $CandidateRoot "M49 native candidate root" $false
+$output = Resolve-DDirectory $OutputRoot "M49 integrated output root" $true
+$runCandidate = Join-Path $output $RunId
+if (Test-Path -LiteralPath $runCandidate) { throw "M49 integrated output already exists" }
+$null = New-Item -ItemType Directory -Path $runCandidate
+$runOutput = Resolve-DDirectory $runCandidate "M49 integrated run output" $false
+foreach ($directory in @("bin", "control", "graph", "tgs")) {
+    $null = New-Item -ItemType Directory -Path (Join-Path $runOutput $directory)
+}
+
+$releaseDocument = Get-Content -LiteralPath (Join-Path $payload "release.json") -Raw | ConvertFrom-Json
+if (
+    $releaseDocument.schema_version -cne "missioncore.m49-tgs-integrated-graph-worker-release/v1" -or
+    $releaseDocument.worker_id -cne "worker-006" -or
+    $releaseDocument.transition -cne "m49-tgs-native-risk-integrated-shadow/v1"
+) { throw "M49 integrated release contract changed" }
+foreach ($property in $releaseDocument.files.PSObject.Properties) {
+    $path = Join-Path $payload $property.Name
+    if ((Get-Sha256 $path) -cne [string]$property.Value.sha256) {
+        throw "M49 integrated payload digest changed: $($property.Name)"
+    }
+}
+$wheelSha256 = [string]$releaseDocument.files."nodedc_mission_core-0.1.0-py3-none-any.whl".sha256
+$runnerSha256 = [string]$releaseDocument.files."run_m48s_reference_graph_shadow_worker.py".sha256
+
+$source = [ordered]@{
+    CameraIndex = (
+        "D:\NDC_MISSIONCORE\runtime\jobs\recorded-camera-602ac89026ed12978619801d" +
+        "\input\camera\sensor.camera.right\epoch-1\index.jsonl"
+    )
+    SourcePack = (
+        "D:\NDC_MISSIONCORE\runtime\derived" +
+        "\e10-lidar-pack-576c994a6c814e2592dd6240ace3902a5db94843312c759a73ba0c9166157d2b" +
+        "\lidar-pack.npz"
+    )
+    LocalSurface = (
+        "D:\NDC_MISSIONCORE\runtime\derived" +
+        "\k1-local-surface-23762244c8bdb97de26fb721ac957d7a00bc9a63571ac4cfa4be19c4effc7d55" +
+        "\local-surface.npz"
+    )
+    Video = (
+        "D:\NDC_MISSIONCORE\runtime\experiments\e46e\inputs" +
+        "\right-cadd1696ff000904eb78633a0a8418104b8024f178b91f3421789021ccb160e8.mp4"
+    )
+    Mask = (
+        "D:\NDC_MISSIONCORE\runtime\inputs\e2" +
+        "\valid-fov-mask-b4dd8ddf2b87c1d520ee8a0868c4fea062d7c14d1bae73ccabd3abe1f3acbac2" +
+        "\mask.png"
+    )
+}
+foreach ($entry in $source.GetEnumerator()) {
+    $null = Resolve-DFile $entry.Value "M49 source $($entry.Key)"
+}
+if ((Get-Sha256 $source.SourcePack) -cne [string]$releaseDocument.source_pack_sha256) {
+    throw "RAVNOVES00 source pack digest changed"
+}
+
+$nativeConfig = Resolve-DFile (
+    (Join-Path $payload "rf_detr_large_native_kb4_config.pbtxt")
+) "native RF-DETR config"
+$nativeEngine = Resolve-DFile (
+    (Join-Path $candidate "rf-detr-native-uint8.plan")
+) "native RF-DETR engine"
+if ((Get-Sha256 $nativeEngine) -cne "b8a40b3580edff001ec9680de68707242294ff590ab296000fae371f1083f695") {
+    throw "native RF-DETR engine SHA-256 changed"
+}
+$modelRoot = Join-Path $runOutput "triton-models"
+$modelDirectory = Join-Path $modelRoot "rf_detr_large_native_kb4"
+$modelVersionDirectory = Join-Path $modelDirectory "1"
+$null = New-Item -ItemType Directory -Path $modelVersionDirectory
+Copy-Item -LiteralPath $nativeConfig -Destination (Join-Path $modelDirectory "config.pbtxt")
+Copy-Item -LiteralPath $nativeEngine -Destination (Join-Path $modelVersionDirectory "model.plan")
+
+$media = Resolve-DDirectory (
+    "D:\NDC_MISSIONCORE\runtime\derived\perception-e15-media-pyav180-lz445-v1"
+) "PyAV dependency" $false
+$opencv = Resolve-DDirectory (
+    "D:\NDC_MISSIONCORE\runtime\derived\perception-e3-opencv413092-v1\packages"
+) "OpenCV dependency" $false
+$pillow = Resolve-DDirectory (
+    "D:\NDC_MISSIONCORE\runtime\derived\perception-p0-env-v1"
+) "Pillow dependency" $false
+
+Assert-Image $TravelImageTag $TravelImageId
+Assert-Image $ParityImageTag $ParityImageId
+& docker image inspect $RuntimeImage *> $null
+Assert-LastExitCode "pinned runtime image inspection"
+$os = Get-CimInstance Win32_OperatingSystem
+$freeMemoryGiB = [double]$os.FreePhysicalMemory / 1MB
+if ($freeMemoryGiB -lt 24.0) {
+    throw ("M49 integrated shadow requires 24 GiB free memory; observed {0:N2} GiB" -f $freeMemoryGiB)
+}
+$canonicalBefore = Get-Container "ndc-mission-core-triton"
+if (-not $canonicalBefore.State.Running -or $canonicalBefore.State.Health.Status -cne "healthy") {
+    throw "Canonical Mission Core Triton must remain healthy"
+}
+$canonicalId = [string]$canonicalBefore.Id
+
+$prepareName = "ndc-mission-core-m49-integrated-prepare-$RunId"
+$compileName = "ndc-mission-core-m49-integrated-compile-$RunId"
+$tritonName = "ndc-mission-core-m49-integrated-triton-$RunId"
+$graphName = "ndc-mission-core-m49-integrated-graph-$RunId"
+$tgsName = "ndc-mission-core-m49-integrated-tgs-$RunId"
+$analyzeName = "ndc-mission-core-m49-integrated-analyze-$RunId"
+$evidenceName = "ndc-mission-core-m49-integrated-evidence-$RunId"
+$containers = @($prepareName, $compileName, $tritonName, $graphName, $tgsName, $analyzeName, $evidenceName)
+foreach ($name in $containers) {
+    if (& docker ps -a --format "{{.Names}}" --filter "name=^/$name$") {
+        throw "M49 integrated container name already exists: $name"
+    }
+}
+
+$started = [DateTimeOffset]::UtcNow
+try {
+    & docker run --rm --name $prepareName --network none --cpus 8 --memory 16g `
+        --entrypoint python3 `
+        --volume ((Convert-ToDockerPath $source.SourcePack) + ":/source/lidar-pack.npz:ro") `
+        --volume ((Convert-ToDockerPath $payload) + ":/release:ro") `
+        --volume ((Convert-ToDockerPath (Join-Path $runOutput "tgs")) + ":/tgs") `
+        $ParityImageTag /release/prepare_tgs_full_shadow_inputs.py `
+        --source-pack /source/lidar-pack.npz `
+        --config /release/m49-tgs-full-shadow-v1.json `
+        --output-root /tgs/inputs
+    Assert-LastExitCode "M49 integrated TGS input preparation"
+
+    & docker run --rm --name $compileName --network none --cpus 8 --memory 8g `
+        --entrypoint /bin/bash `
+        --volume ((Convert-ToDockerPath $payload) + ":/release:ro") `
+        --volume ((Convert-ToDockerPath (Join-Path $runOutput "bin")) + ":/out") `
+        $TravelImageTag /release/build_tgs_full_shadow_binary.sh /out/run_tgs_full_shadow
+    Assert-LastExitCode "M49 integrated TGS binary build"
+
+    & docker create --name $tritonName `
+        --read-only --security-opt "no-new-privileges:true" --cap-drop ALL `
+        --pids-limit 512 --shm-size 1g --gpus all `
+        --tmpfs "/tmp:rw,noexec,nosuid,size=2g" `
+        --health-cmd "curl --fail --silent http://127.0.0.1:8000/v2/health/ready" `
+        --health-interval 5s --health-timeout 3s --health-start-period 20s --health-retries 24 `
+        -v ((Convert-ToDockerPath $modelRoot) + ":/models:ro") `
+        $RuntimeImage tritonserver --model-repository=/models `
+        --model-control-mode=explicit --load-model=rf_detr_large_native_kb4 `
+        --disable-auto-complete-config --strict-readiness=true --exit-on-error=true `
+        --allow-http=true --allow-grpc=false --allow-metrics=false *> $null
+    Assert-LastExitCode "M49 integrated Triton creation"
+    & docker start $tritonName *> $null
+    Assert-LastExitCode "M49 integrated Triton start"
+    Wait-Healthy $tritonName
+
+    $dockerRelease = Convert-ToDockerPath $payload
+    $dockerRun = Convert-ToDockerPath $runOutput
+    $rate = [string]::Format([Globalization.CultureInfo]::InvariantCulture, "{0:R}", $SourceRateHz)
+    $graphArguments = @(
+        "create", "--name", $graphName,
+        "--network", ("container:{0}" -f $tritonName),
+        "--read-only", "--security-opt", "no-new-privileges:true", "--cap-drop", "ALL",
+        "--pids-limit", "256", "--gpus", "all",
+        "--tmpfs", "/tmp:rw,noexec,nosuid,size=2g",
+        "-e", "PYTHONDONTWRITEBYTECODE=1",
+        "-e", "PYTHONPATH=/release/nodedc_mission_core-0.1.0-py3-none-any.whl:/opt/media:/opt/opencv:/opt/pillow",
+        "-v", ("{0}:/release:ro" -f $dockerRelease),
+        "-v", ("{0}:/shared:rw" -f $dockerRun),
+        "-v", ((Convert-ToDockerPath $media) + ":/opt/media:ro"),
+        "-v", ((Convert-ToDockerPath $opencv) + ":/opt/opencv:ro"),
+        "-v", ((Convert-ToDockerPath $pillow) + ":/opt/pillow:ro"),
+        "-v", ((Convert-ToDockerPath $source.CameraIndex) + ":/source/camera-index.jsonl:ro"),
+        "-v", ((Convert-ToDockerPath $source.SourcePack) + ":/source/source-pack.npz:ro"),
+        "-v", ((Convert-ToDockerPath $source.LocalSurface) + ":/source/local-surface.npz:ro"),
+        "-v", ((Convert-ToDockerPath $source.Video) + ":/source/right.mp4:ro"),
+        "-v", ((Convert-ToDockerPath $source.Mask) + ":/source/mask.png:ro"),
+        "--entrypoint", "python3", $RuntimeImage,
+        "/release/run_m48s_reference_graph_shadow_worker.py",
+        "--graph-config", "/release/m48n-rf-detr-native-reference-graph-shadow-v0.json",
+        "--baseline-profile", "/release/m4-recorded-realtime-baseline-v1.json",
+        "--detector-profile", "/release/rf-detr-large-native-kb4-risk-shadow-v0.json",
+        "--geometry-profile", "/release/m4-geometry-association-v1.json",
+        "--temporal-motion-profile", "/release/m4-temporal-motion-v1.json",
+        "--rolling-map-profile", "/release/m4-rolling-local-map-v1.json",
+        "--threat-profile", "/release/m4-replay-threat-v3.json",
+        "--camera-index", "/source/camera-index.jsonl",
+        "--source-pack", "/source/source-pack.npz",
+        "--local-surface", "/source/local-surface.npz",
+        "--video", "/source/right.mp4",
+        "--valid-fov-mask", "/source/mask.png",
+        "--triton-origin", "http://127.0.0.1:8000",
+        "--loops", "1", "--maximum-frames", "4489", "--source-rate-hz", $rate,
+        "--minimum-delivery-ratio", "1.0",
+        "--minimum-effective-world-state-fps", "11.209069",
+        "--maximum-world-state-completion-p95-ms", "125.0",
+        "--load-purpose", "reserve-gate",
+        "--runtime-artifact-sha256", $wheelSha256,
+        "--runner-sha256", $runnerSha256,
+        "--shared-start-ready-file", "/shared/control/graph.ready",
+        "--shared-start-file", "/shared/control/start.signal",
+        "--output", "/shared/graph/result.json",
+        "--progress", "/shared/graph/progress.jsonl",
+        "--frame-ledger", "/shared/graph/frames.jsonl"
+    )
+    & docker @graphArguments *> $null
+    Assert-LastExitCode "M49 integrated graph creation"
+
+    & docker create --name $tgsName --network none --cpus 16 --memory 24g `
+        --read-only --security-opt "no-new-privileges:true" --cap-drop ALL `
+        --pids-limit 256 --tmpfs "/tmp:rw,noexec,nosuid,size=1g" `
+        -e ("M49_SOURCE_RATE_HZ={0}" -f $rate) `
+        --entrypoint /bin/bash `
+        --volume ($dockerRelease + ":/release:ro") `
+        --volume ($dockerRun + ":/shared:rw") `
+        $TravelImageTag /release/run_tgs_integrated_shadow.sh *> $null
+    Assert-LastExitCode "M49 integrated TGS creation"
+
+    & docker start $graphName *> $null
+    Assert-LastExitCode "M49 integrated graph start"
+    & docker start $tgsName *> $null
+    Assert-LastExitCode "M49 integrated TGS start"
+    $graphReady = Join-Path $runOutput "control\graph.ready"
+    $tgsReady = Join-Path $runOutput "control\tgs.ready"
+    Wait-SharedReady $graphReady $tgsReady $graphName $tgsName
+    [DateTimeOffset]::UtcNow.ToString("o") | Set-Content -LiteralPath (
+        Join-Path $runOutput "control\start.signal"
+    ) -Encoding utf8
+
+    $telemetryPath = Join-Path $runOutput "container-telemetry.jsonl"
+    while ($true) {
+        $graphState = Get-Container $graphName
+        $tgsState = Get-Container $tgsName
+        $running = @()
+        if ($graphState.State.Running) { $running += $graphName }
+        if ($tgsState.State.Running) { $running += $tgsName }
+        if ((Get-Container $tritonName).State.Running) { $running += $tritonName }
+        if ($running.Count -gt 0) {
+            $stats = @((& docker stats --no-stream --format "{{json .}}" @running))
+            Assert-LastExitCode "M49 integrated container telemetry"
+            foreach ($line in $stats) {
+                $value = $line | ConvertFrom-Json
+                $role = if ($value.Name -ceq $graphName) {
+                    "graph"
+                } elseif ($value.Name -ceq $tgsName) {
+                    "tgs"
+                } elseif ($value.Name -ceq $tritonName) {
+                    "triton"
+                } else {
+                    throw "Unknown M49 telemetry container"
+                }
+                [ordered]@{
+                    observed_utc = [DateTimeOffset]::UtcNow.ToString("o")
+                    role = $role
+                    name = [string]$value.Name
+                    cpu_percent = [string]$value.CPUPerc
+                    memory_usage = [string]$value.MemUsage
+                    memory_percent = [string]$value.MemPerc
+                    pids = [string]$value.PIDs
+                } | ConvertTo-Json -Compress | Out-File -LiteralPath $telemetryPath -Encoding utf8 -Append
+            }
+        }
+        if (-not $graphState.State.Running -and -not $tgsState.State.Running) { break }
+        Start-Sleep -Seconds 1
+    }
+    $graphExit = [int](Get-Container $graphName).State.ExitCode
+    $tgsExit = [int](Get-Container $tgsName).State.ExitCode
+    $previousErrorAction = $ErrorActionPreference
+    $ErrorActionPreference = "Continue"
+    $graphLogs = & docker logs $graphName 2>&1
+    $tgsLogs = & docker logs $tgsName 2>&1
+    $ErrorActionPreference = $previousErrorAction
+    $graphLogs | Set-Content -LiteralPath (Join-Path $runOutput "graph.log") -Encoding utf8
+    $tgsLogs | Set-Content -LiteralPath (Join-Path $runOutput "tgs.log") -Encoding utf8
+    if ($graphExit -ne 0) { throw "M49 integrated graph failed with exit code $graphExit" }
+    if ($tgsExit -ne 0) { throw "M49 integrated TGS failed with exit code $tgsExit" }
+
+    & docker run --rm --name $analyzeName --network none --cpus 8 --memory 16g `
+        --entrypoint python3 `
+        --volume ($dockerRelease + ":/release:ro") `
+        --volume ($dockerRun + ":/shared:rw") `
+        $ParityImageTag /release/build_tgs_full_shadow_evidence.py `
+        --run-root /shared/tgs `
+        --config /release/m49-tgs-full-shadow-v1.json `
+        --output-root /shared/tgs/evidence
+    Assert-LastExitCode "M49 integrated TGS evidence analysis"
+
+    & docker run --rm --name $evidenceName --network none --cpus 4 --memory 8g `
+        --entrypoint python3 `
+        --volume ($dockerRelease + ":/release:ro") `
+        --volume ($dockerRun + ":/shared:rw") `
+        $ParityImageTag /release/build_tgs_integrated_graph_evidence.py `
+        --profile /release/m49-tgs-integrated-graph-shadow-v1.json `
+        --graph-result /shared/graph/result.json `
+        --graph-frames /shared/graph/frames.jsonl `
+        --tgs-result /shared/tgs/evidence/result.json `
+        --tgs-timing /shared/tgs/tgs-full-timing.tsv `
+        --telemetry /shared/container-telemetry.jsonl `
+        --output /shared/result.json `
+        --release-sha256 $ExpectedArtifactSha256
+    Assert-LastExitCode "M49 integrated evidence gate"
+} finally {
+    foreach ($name in $containers) { Remove-ExactContainer $name }
+    $canonicalAfter = Get-Container "ndc-mission-core-triton"
+    if (
+        [string]$canonicalAfter.Id -cne $canonicalId -or
+        -not $canonicalAfter.State.Running -or
+        $canonicalAfter.State.Health.Status -cne "healthy"
+    ) { throw "Canonical Mission Core Triton changed during M49 integrated shadow" }
+}
+
+$completed = [DateTimeOffset]::UtcNow
+$resultPath = Join-Path $runOutput "result.json"
+if (-not (Test-Path -LiteralPath $resultPath -PathType Leaf)) {
+    throw "M49 integrated result is missing"
+}
+$result = Get-Content -LiteralPath $resultPath -Raw | ConvertFrom-Json
+$summary = [ordered]@{
+    schema_version = "missioncore.m49-tgs-integrated-graph-worker-summary/v1"
+    worker_id = "worker-006"
+    run_id = $RunId
+    code_revision = [string]$releaseDocument.code_revision
+    source_rate_hz = $SourceRateHz
+    started_utc = $started.ToString("o")
+    completed_utc = $completed.ToString("o")
+    wall_seconds = [math]::Round(($completed - $started).TotalSeconds, 6)
+    free_memory_gib_before = [math]::Round($freeMemoryGiB, 6)
+    result_id = [string]$result.result_id
+    result_status = [string]$result.status
+    canonical_triton_id = $canonicalId
+    canonical_triton_health = "healthy"
+    gauss_or_playcanvas_action = "none"
+    durable_worker_action = "none"
+    navigation_or_actuation_allowed = $false
+}
+$summary | ConvertTo-Json -Depth 3 | Set-Content -LiteralPath (
+    Join-Path $runOutput "worker-summary.json"
+) -Encoding utf8
+$summary | ConvertTo-Json -Depth 3

experiments/perception/worker/lab_v1_vegetation_goose/Dockerfile

@@ -0,0 +1,49 @@
+FROM nvidia/cuda:12.8.1-cudnn-devel-ubuntu22.04@sha256:ad6d59a3bbf3e82c1c849c9ac09cfc2a3e0bbb8655042fd899be6681b3fe2a85
+
+SHELL ["/bin/bash", "-o", "pipefail", "-c"]
+ENV DEBIAN_FRONTEND=noninteractive \
+    PYTHONDONTWRITEBYTECODE=1 \
+    PYTHONUNBUFFERED=1 \
+    PATH=/opt/conda/bin:$PATH
+
+ARG MINICONDA_INSTALLER=Miniconda3-py39_24.11.1-0-Linux-x86_64.sh
+ARG MINICONDA_SHA256=3ea8373098d72140e08aac9217822b047ec094eb457e7f73945af7c6f68bf6f5
+
+RUN apt-get update \
+    && apt-get install --yes --no-install-recommends \
+        build-essential \
+        ca-certificates \
+        curl \
+        git \
+        libglib2.0-0 \
+        libgl1 \
+    && curl --fail --location --retry 5 \
+        --output /tmp/miniconda.sh \
+        "https://repo.anaconda.com/miniconda/${MINICONDA_INSTALLER}" \
+    && echo "${MINICONDA_SHA256}  /tmp/miniconda.sh" | sha256sum --check --strict \
+    && bash /tmp/miniconda.sh -b -p /opt/conda \
+    && rm -f /tmp/miniconda.sh \
+    && rm -rf /var/lib/apt/lists/*
+
+RUN conda create --yes --name goose python=3.9 pip \
+    && conda install --yes --name goose --channel pytorch --channel nvidia \
+        pytorch=1.13.1 torchvision=0.14.1 pytorch-cuda=11.7
+
+RUN conda run --name goose python -m pip install --no-cache-dir \
+        cmake==3.31.6 \
+        numpy==1.23.0 \
+        onnxsim==0.4.36 \
+        opencv-python==4.8.1.78 \
+        protobuf==3.20.3 \
+        pyparsing==2.4.5
+
+RUN conda run --name goose python -m pip install --no-cache-dir \
+        super-gradients==3.2.0 \
+        torchmetrics==0.8.0
+
+RUN conda clean --all --yes
+
+WORKDIR /opt/mission-core/lab-v1
+COPY run_goose_vegetation_benchmark.py /opt/mission-core/lab-v1/runner.py
+
+ENTRYPOINT ["conda", "run", "--no-capture-output", "--name", "goose", "python", "/opt/mission-core/lab-v1/runner.py"]

experiments/perception/worker/lab_v1_vegetation_goose/run_goose_vegetation_benchmark.py

@@ -0,0 +1,777 @@
+"""Run isolated GOOSE vegetation qualification and RAVNOVES shadow inference."""
+
+from __future__ import annotations
+
+import argparse
+import csv
+import hashlib
+import json
+import math
+import os
+import platform
+import statistics
+import time
+import zipfile
+from pathlib import Path
+from typing import Any
+
+import numpy as np
+import torch
+from PIL import Image
+from super_gradients.training import models
+
+SCHEMA = "missioncore.lab-v1-goose-vegetation-run/v1"
+VISUAL_SCHEMA = "missioncore.lab-v1-goose-vegetation-visual-case/v1"
+CLASS_COUNT = 64
+MAX_CONFIG_BYTES = 1024 * 1024
+MODEL_NAMES = {
+    "ddrnet": ("ddrnet_39",),
+    "ppliteseg": (
+        "pp_lite_t_seg",
+        "pp_lite_t_seg50",
+        "pp_lite_t_seg75",
+        "pp_lite_b_seg",
+        "pp_lite_b_seg50",
+        "pp_lite_b_seg75",
+    ),
+}
+RESAMPLE_NEAREST = getattr(Image, "Resampling", Image).NEAREST
+
+
+class RunnerError(RuntimeError):
+    """The bounded runner input or output contract is invalid."""
+
+
+def parse_args() -> argparse.Namespace:
+    parser = argparse.ArgumentParser()
+    parser.add_argument(
+        "--mode",
+        choices=("goose", "ravnoves", "ravnoves-video"),
+        required=True,
+    )
+    parser.add_argument("--candidate", choices=tuple(MODEL_NAMES), required=True)
+    parser.add_argument("--config", type=Path, required=True)
+    parser.add_argument("--policy", type=Path, required=True)
+    parser.add_argument("--provider-map", type=Path, required=True)
+    parser.add_argument("--checkpoint", type=Path, required=True)
+    parser.add_argument("--dataset-root", type=Path)
+    parser.add_argument("--frames-root", type=Path)
+    parser.add_argument("--output", type=Path, required=True)
+    parser.add_argument("--limit", type=int, default=0)
+    parser.add_argument("--visual-count", type=int, default=12)
+    return parser.parse_args()
+
+
+def read_json(path: Path, label: str) -> dict[str, Any]:
+    if path.is_symlink() or not path.is_file() or path.stat().st_size > MAX_CONFIG_BYTES:
+        raise RunnerError(f"{label} is unavailable")
+    value = json.loads(path.read_text(encoding="utf-8-sig"))
+    if not isinstance(value, dict):
+        raise RunnerError(f"{label} must be an object")
+    return value
+
+
+def sha256(path: Path) -> str:
+    digest = hashlib.sha256()
+    with path.open("rb") as stream:
+        for block in iter(lambda: stream.read(1024 * 1024), b""):
+            digest.update(block)
+    return digest.hexdigest()
+
+
+def stable_digest(value: object) -> str:
+    encoded = json.dumps(value, sort_keys=True, separators=(",", ":")).encode("utf-8")
+    return hashlib.sha256(encoded).hexdigest()
+
+
+def validate_contracts(
+    config: dict[str, Any], policy: dict[str, Any], provider_map: dict[str, Any], candidate: str
+) -> dict[str, Any]:
+    if config.get("schema_version") != "missioncore.lab-v1-goose-vegetation-benchmark/v1":
+        raise RunnerError("benchmark configuration identity changed")
+    if policy.get("schema_version") != "missioncore.vegetation-mission-policy/v1":
+        raise RunnerError("mission policy identity changed")
+    if provider_map.get("schema_version") != "missioncore.vegetation-provider-label-map/v1":
+        raise RunnerError("provider map identity changed")
+    invariants = config.get("invariants")
+    true_invariants = {"one_heavy_candidate_at_a_time", "raw_fisheye_is_immutable"}
+    if not isinstance(invariants, dict) or any(
+        value is not False for key, value in invariants.items() if key not in true_invariants
+    ):
+        raise RunnerError("benchmark fail-closed invariants changed")
+    if (
+        invariants.get("one_heavy_candidate_at_a_time") is not True
+        or invariants.get("raw_fisheye_is_immutable") is not True
+    ):
+        raise RunnerError("benchmark isolation invariants changed")
+    candidates = config.get("candidates")
+    if not isinstance(candidates, dict) or not isinstance(candidates.get(candidate), dict):
+        raise RunnerError("candidate is not configured")
+    expected_models = candidates[candidate].get("model_names")
+    if expected_models != list(MODEL_NAMES[candidate]):
+        raise RunnerError("candidate architecture probe order changed")
+    return candidates[candidate]
+
+
+def load_mapping(path: Path, expected_sha256: str) -> tuple[dict[int, str], np.ndarray]:
+    if sha256(path) != expected_sha256:
+        raise RunnerError("GOOSE label mapping digest changed")
+    names: dict[int, str] = {}
+    palette = np.zeros((CLASS_COUNT, 4), dtype=np.uint8)
+    with path.open(newline="", encoding="utf-8-sig") as stream:
+        for row in csv.DictReader(stream):
+            label_id = int(row["label_key"])
+            if label_id < 0 or label_id >= CLASS_COUNT:
+                raise RunnerError("GOOSE label id is outside the 64-class contract")
+            color = row["hex"].lstrip("#")
+            names[label_id] = row["class_name"]
+            palette[label_id] = (*bytes.fromhex(color), 190)
+    if set(names) != set(range(CLASS_COUNT)):
+        raise RunnerError("GOOSE mapping does not cover exactly 64 classes")
+    palette[0, 3] = 0
+    return names, palette
+
+
+def center_crop(image: Image.Image) -> tuple[Image.Image, tuple[int, int, int, int]]:
+    side = min(image.width, image.height)
+    left = (image.width - side) // 2
+    top = (image.height - side) // 2
+    box = (left, top, left + side, top + side)
+    return image.crop(box), box
+
+
+def preprocess(image: Image.Image) -> tuple[torch.Tensor, tuple[int, int, int, int]]:
+    cropped, crop_box = center_crop(image.convert("RGB"))
+    resized = cropped.resize((512, 512), resample=RESAMPLE_NEAREST)
+    array = np.asarray(resized, dtype=np.float32) / 255.0
+    tensor = torch.from_numpy(np.transpose(array, (2, 0, 1))).unsqueeze(0)
+    return tensor, crop_box
+
+
+def preprocess_label(image: Image.Image) -> np.ndarray:
+    cropped, _ = center_crop(image.convert("L"))
+    return np.asarray(cropped.resize((512, 512), resample=RESAMPLE_NEAREST), dtype=np.uint8)
+
+
+def find_goose_pairs(root: Path) -> list[tuple[Path, Path]]:
+    pairs: list[tuple[Path, Path]] = []
+    image_root = root / "images" / "val"
+    label_root = root / "labels" / "val"
+    for image_path in sorted(image_root.rglob("*_windshield_vis.png")):
+        stem = image_path.name.removesuffix("_windshield_vis.png")
+        relative_parent = image_path.parent.relative_to(image_root)
+        label_path = label_root / relative_parent / f"{stem}_labelids.png"
+        if label_path.is_file() and not label_path.is_symlink():
+            pairs.append((image_path, label_path))
+    return pairs
+
+
+def visual_indices(count: int, visual_count: int) -> dict[int, dict[str, Any]]:
+    if count <= 0 or visual_count <= 0:
+        return {}
+    selected_count = min(count, visual_count)
+    if selected_count == 1:
+        return {0: {}}
+    return {
+        round(index * (count - 1) / (selected_count - 1)): {}
+        for index in range(selected_count)
+    }
+
+
+def truth_focused_visuals(
+    items: list[tuple[str, Path, Path | None]],
+    names: dict[int, str],
+    contract: dict[str, Any],
+) -> dict[int, dict[str, Any]]:
+    if contract.get("selection_basis") != "ground-truth-class-support-only":
+        raise RunnerError("visual selection basis changed")
+    case_count = contract.get("case_count")
+    minimum_pixels = contract.get("minimum_focus_pixels")
+    strata = contract.get("strata")
+    if (
+        not isinstance(case_count, int)
+        or case_count <= 0
+        or not isinstance(minimum_pixels, int)
+        or minimum_pixels <= 0
+        or not isinstance(strata, list)
+        or sum(row.get("count", 0) for row in strata if isinstance(row, dict)) != case_count
+    ):
+        raise RunnerError("visual case contract is invalid")
+    ids_by_name = {class_name: label_id for label_id, class_name in names.items()}
+    supports: list[dict[int, int]] = []
+    for _, _, label_path in items:
+        if label_path is None:
+            raise RunnerError("truth-focused selection requires labels")
+        truth = preprocess_label(Image.open(label_path))
+        values, counts = np.unique(truth, return_counts=True)
+        supports.append({int(value): int(count) for value, count in zip(values, counts)})
+
+    selected: dict[int, dict[str, Any]] = {}
+    for raw in strata:
+        if not isinstance(raw, dict):
+            raise RunnerError("visual stratum is invalid")
+        class_name = raw.get("class_name")
+        count = raw.get("count")
+        if class_name not in ids_by_name or not isinstance(count, int) or count <= 0:
+            raise RunnerError("visual stratum identity changed")
+        label_id = ids_by_name[class_name]
+        ranked = sorted(
+            (
+                (support.get(label_id, 0), items[index][0], index)
+                for index, support in enumerate(supports)
+                if index not in selected and support.get(label_id, 0) > 0
+            ),
+            key=lambda row: (-row[0], row[1]),
+        )
+        admitted = [row for row in ranked if row[0] >= minimum_pixels]
+        if len(admitted) < count:
+            admitted = ranked
+        if len(admitted) < count:
+            raise RunnerError(f"visual stratum {class_name} has fewer than {count} cases")
+        for rank, (truth_pixels, _, index) in enumerate(admitted[:count], start=1):
+            selected[index] = {
+                "class_name": class_name,
+                "label_id": label_id,
+                "truth_pixels": truth_pixels,
+                "truth_fraction": round(truth_pixels / float(512 * 512), 8),
+                "stratum_rank": rank,
+            }
+    if len(selected) != case_count:
+        raise RunnerError("truth-focused visual selection did not produce the frozen case count")
+    return selected
+
+
+def load_model(candidate: str, checkpoint: Path) -> tuple[torch.nn.Module, str, list[str]]:
+    failures: list[str] = []
+    for model_name in MODEL_NAMES[candidate]:
+        try:
+            model = models.get(
+                model_name=model_name,
+                num_classes=CLASS_COUNT,
+                checkpoint_path=str(checkpoint),
+            )
+            model.eval()
+            model.cuda()
+            return model, model_name, failures
+        except Exception as error:  # noqa: BLE001 - each upstream architecture is a probe
+            failures.append(f"{model_name}: {type(error).__name__}: {str(error)[:240]}")
+            if torch.cuda.is_available():
+                torch.cuda.empty_cache()
+    raise RunnerError("checkpoint did not load: " + " | ".join(failures))
+
+
+def logits_from_output(value: object) -> torch.Tensor:
+    if isinstance(value, torch.Tensor) and value.ndim == 4 and value.shape[1] == CLASS_COUNT:
+        return value
+    if isinstance(value, (list, tuple)):
+        for item in value:
+            try:
+                return logits_from_output(item)
+            except RunnerError:
+                continue
+    raise RunnerError("model output does not contain a 64-class raster")
+
+
+def infer(model: torch.nn.Module, tensor: torch.Tensor) -> tuple[np.ndarray, float]:
+    tensor = tensor.cuda(non_blocking=True)
+    torch.cuda.synchronize()
+    started = time.perf_counter_ns()
+    with torch.inference_mode():
+        logits = logits_from_output(model(tensor))
+        prediction = torch.argmax(torch.sigmoid(logits), dim=1)
+    torch.cuda.synchronize()
+    elapsed_ms = (time.perf_counter_ns() - started) / 1_000_000.0
+    return prediction[0].to(device="cpu", dtype=torch.uint8).numpy(), elapsed_ms
+
+
+def update_confusion(confusion: np.ndarray, truth: np.ndarray, prediction: np.ndarray) -> None:
+    valid = (truth >= 0) & (truth < CLASS_COUNT)
+    indices = CLASS_COUNT * truth[valid].astype(np.int64) + prediction[valid].astype(np.int64)
+    confusion += np.bincount(indices, minlength=CLASS_COUNT**2).reshape(CLASS_COUNT, CLASS_COUNT)
+
+
+def class_metrics(confusion: np.ndarray, names: dict[int, str]) -> list[dict[str, Any]]:
+    truth = confusion.sum(axis=1)
+    predicted = confusion.sum(axis=0)
+    intersection = np.diag(confusion)
+    union = truth + predicted - intersection
+    rows: list[dict[str, Any]] = []
+    for label_id in range(CLASS_COUNT):
+        rows.append(
+            {
+                "label_id": label_id,
+                "class_name": names[label_id],
+                "support_pixels": int(truth[label_id]),
+                "predicted_pixels": int(predicted[label_id]),
+                "intersection_pixels": int(intersection[label_id]),
+                "union_pixels": int(union[label_id]),
+                "iou": round(float(intersection[label_id] / union[label_id]), 8)
+                if union[label_id]
+                else None,
+            }
+        )
+    return rows
+
+
+def hex_rgb(value: str) -> tuple[int, int, int]:
+    raw = bytes.fromhex(value.removeprefix("#"))
+    if len(raw) != 3:
+        raise RunnerError("policy action color must be RGB")
+    return raw[0], raw[1], raw[2]
+
+
+def policy_palette(
+    names: dict[int, str], policy: dict[str, Any], provider_map: dict[str, Any], preset: str,
+    action_colors: dict[str, str]
+) -> np.ndarray:
+    palette = np.zeros((CLASS_COUNT, 4), dtype=np.uint8)
+    labels = provider_map["providers"]["goose-fine-64"]["labels"]
+    rules = policy["presets"][preset]
+    for label_id, class_name in names.items():
+        material = labels.get(class_name)
+        if material is None:
+            continue
+        action = rules[material]
+        palette[label_id] = (*hex_rgb(action_colors[action]), 190)
+    return palette
+
+
+def save_image(path: Path, value: Image.Image | np.ndarray, mode: str | None = None) -> str:
+    path.parent.mkdir(parents=True, exist_ok=True)
+    image = value if isinstance(value, Image.Image) else Image.fromarray(value, mode=mode)
+    image.save(path, format="PNG", optimize=True)
+    return sha256(path)
+
+
+def write_mask_archive(
+    output: Path,
+    masks_root: Path,
+    frame_count: int,
+) -> dict[str, Any]:
+    archive_path = output / "semantic-masks.zip"
+    expected = [f"frame-{sequence + 1:06d}.png" for sequence in range(frame_count)]
+    actual = sorted(path.name for path in masks_root.glob("frame-*.png"))
+    if actual != expected:
+        raise RunnerError("RAVNOVES video mask sequence is incomplete")
+    with zipfile.ZipFile(
+        archive_path,
+        mode="x",
+        compression=zipfile.ZIP_STORED,
+        allowZip64=True,
+    ) as archive:
+        for name in expected:
+            archive.write(masks_root / name, arcname=f"masks/{name}")
+    for path in masks_root.iterdir():
+        path.unlink()
+    masks_root.rmdir()
+    return {
+        "path": archive_path.name,
+        "sha256": sha256(archive_path),
+        "byte_length": archive_path.stat().st_size,
+        "media_type": "application/zip",
+        "frame_count": frame_count,
+        "width": 800,
+        "height": 600,
+        "encoding": "uint8-class-id-png",
+        "sequence_binding": "sequence-0-to-masks/frame-000001.png",
+    }
+
+
+def expand_mask(
+    mask: np.ndarray,
+    original_size: tuple[int, int],
+    crop_box: tuple[int, int, int, int],
+) -> np.ndarray:
+    left, top, right, bottom = crop_box
+    side = right - left
+    resized = Image.fromarray(mask, mode="L").resize((side, side), resample=RESAMPLE_NEAREST)
+    canvas = np.zeros((original_size[1], original_size[0]), dtype=np.uint8)
+    canvas[top:bottom, left:right] = np.asarray(resized, dtype=np.uint8)
+    return canvas
+
+
+def write_visual_case(
+    output: Path,
+    case_id: str,
+    source: Image.Image,
+    prediction: np.ndarray,
+    semantic_palette: np.ndarray,
+    policy_palettes: dict[str, np.ndarray],
+    crop_box: tuple[int, int, int, int],
+    truth: np.ndarray | None = None,
+    focus: dict[str, Any] | None = None,
+    material_codes: np.ndarray | None = None,
+    error_colors: dict[str, list[int]] | None = None,
+    preserve_source_size: bool = False,
+) -> dict[str, Any]:
+    case_root = output / "cases" / case_id
+    if preserve_source_size:
+        source_image = source.convert("RGB")
+        prediction_image = expand_mask(prediction, source_image.size, crop_box)
+        truth_image = expand_mask(truth, source_image.size, crop_box) if truth is not None else None
+    else:
+        cropped, _ = center_crop(source.convert("RGB"))
+        source_image = cropped.resize((512, 512), resample=RESAMPLE_NEAREST)
+        prediction_image = prediction
+        truth_image = truth
+
+    files: dict[str, dict[str, str]] = {}
+    source_path = case_root / "source.png"
+    files["source"] = {
+        "relative_path": source_path.relative_to(output).as_posix(),
+        "sha256": save_image(source_path, source_image),
+    }
+    prediction_path = case_root / "prediction-labelids.png"
+    files["prediction_labelids"] = {
+        "relative_path": prediction_path.relative_to(output).as_posix(),
+        "sha256": save_image(prediction_path, prediction_image, "L"),
+    }
+    semantic_path = case_root / "prediction-semantic.png"
+    files["prediction_semantic"] = {
+        "relative_path": semantic_path.relative_to(output).as_posix(),
+        "sha256": save_image(semantic_path, semantic_palette[prediction_image], "RGBA"),
+    }
+    for preset, palette in policy_palettes.items():
+        policy_path = case_root / f"policy-{preset}.png"
+        files[f"policy_{preset}"] = {
+            "relative_path": policy_path.relative_to(output).as_posix(),
+            "sha256": save_image(policy_path, palette[prediction_image], "RGBA"),
+        }
+    if truth_image is not None:
+        truth_path = case_root / "truth-labelids.png"
+        files["truth_labelids"] = {
+            "relative_path": truth_path.relative_to(output).as_posix(),
+            "sha256": save_image(truth_path, truth_image, "L"),
+        }
+        truth_semantic_path = case_root / "truth-semantic.png"
+        files["truth_semantic"] = {
+            "relative_path": truth_semantic_path.relative_to(output).as_posix(),
+            "sha256": save_image(truth_semantic_path, semantic_palette[truth_image], "RGBA"),
+        }
+        if material_codes is None or error_colors is None:
+            raise RunnerError("truth visual case requires the material-error contract")
+        truth_material = material_codes[truth_image]
+        predicted_material = material_codes[prediction_image]
+        truth_vegetation = truth_material > 0
+        predicted_vegetation = predicted_material > 0
+        error_overlay = np.zeros((*truth_image.shape, 4), dtype=np.uint8)
+        correct = truth_vegetation & (truth_material == predicted_material)
+        missed = truth_vegetation & ~predicted_vegetation
+        false_positive = ~truth_vegetation & predicted_vegetation
+        wrong_material = truth_vegetation & predicted_vegetation & (truth_material != predicted_material)
+        error_overlay[correct] = error_colors["correct_material_rgba"]
+        error_overlay[missed] = error_colors["missed_vegetation_rgba"]
+        error_overlay[false_positive] = error_colors["false_vegetation_rgba"]
+        error_overlay[wrong_material] = error_colors["wrong_vegetation_material_rgba"]
+        error_path = case_root / "vegetation-material-error.png"
+        files["vegetation_material_error"] = {
+            "relative_path": error_path.relative_to(output).as_posix(),
+            "sha256": save_image(error_path, error_overlay, "RGBA"),
+        }
+    return {
+        "schema_version": VISUAL_SCHEMA,
+        "case_id": case_id,
+        "source_width": source_image.width,
+        "source_height": source_image.height,
+        "center_crop_xyxy": list(crop_box),
+        "outside_crop_state": "undefined" if preserve_source_size else "not-applicable",
+        "focus": focus,
+        "files": files,
+    }
+
+
+def percentile(values: list[float], fraction: float) -> float:
+    if not values:
+        return 0.0
+    ordered = sorted(values)
+    index = (len(ordered) - 1) * fraction
+    lower = math.floor(index)
+    upper = math.ceil(index)
+    if lower == upper:
+        return ordered[lower]
+    return ordered[lower] * (upper - index) + ordered[upper] * (index - lower)
+
+
+def run() -> None:
+    args = parse_args()
+    if not torch.cuda.is_available():
+        raise RunnerError("CUDA is required for Worker 006 qualification")
+    if args.limit < 0 or args.visual_count < 0:
+        raise RunnerError("limit and visual-count must be non-negative")
+    config = read_json(args.config, "benchmark config")
+    policy = read_json(args.policy, "mission policy")
+    provider_map = read_json(args.provider_map, "provider map")
+    candidate_config = validate_contracts(config, policy, provider_map, args.candidate)
+    if args.checkpoint.is_symlink() or not args.checkpoint.is_file():
+        raise RunnerError("checkpoint is unavailable")
+    if args.checkpoint.stat().st_size != candidate_config["checkpoint_size_bytes"]:
+        raise RunnerError("checkpoint size changed")
+    checkpoint_sha256 = sha256(args.checkpoint)
+    if checkpoint_sha256 != candidate_config["checkpoint_sha256"]:
+        raise RunnerError("checkpoint digest changed")
+
+    dataset_config = config["dataset"]
+    mapping_root = args.dataset_root
+    if mapping_root is None:
+        raise RunnerError("dataset-root is required for the immutable mapping")
+    mapping_path = mapping_root / dataset_config["mapping_relative_path"]
+    names, semantic_palette = load_mapping(mapping_path, dataset_config["mapping_sha256"])
+    policy_palettes = {
+        preset: policy_palette(
+            names,
+            policy,
+            provider_map,
+            preset,
+            config["policy_action_colors"],
+        )
+        for preset in ("urban", "rural", "offroad")
+    }
+    provider_labels = provider_map["providers"]["goose-fine-64"]["labels"]
+    vegetation_materials = sorted(
+        {
+            material
+            for material in provider_labels.values()
+            if material in {
+                "grass",
+                "herbaceous_vegetation",
+                "cultivated_vegetation",
+                "woody_shrub",
+                "tree_or_trunk",
+                "vegetation_unknown",
+            }
+        }
+    )
+    material_code_by_name = {
+        material: index for index, material in enumerate(vegetation_materials, start=1)
+    }
+    material_codes = np.zeros(CLASS_COUNT, dtype=np.uint8)
+    for label_id, class_name in names.items():
+        material_codes[label_id] = material_code_by_name.get(provider_labels.get(class_name), 0)
+
+    if args.mode == "goose":
+        pairs = find_goose_pairs(mapping_root)
+        if len(pairs) != dataset_config["expected_pair_count"]:
+            raise RunnerError(f"GOOSE pair count changed: {len(pairs)}")
+        items: list[tuple[str, Path, Path | None]] = [
+            (image.stem.removesuffix("_windshield_vis"), image, label)
+            for image, label in pairs
+        ]
+    elif args.mode == "ravnoves":
+        if args.frames_root is None or not args.frames_root.is_dir():
+            raise RunnerError("frames-root is required for RAVNOVES mode")
+        frames = sorted(args.frames_root.glob("frame-*.png"))
+        expected = {f"frame-{index:06d}" for index in config["ravnoves"]["frame_indices"]}
+        if {frame.stem for frame in frames} != expected:
+            raise RunnerError("RAVNOVES frame island identity changed")
+        items = [(frame.stem, frame, None) for frame in frames]
+    else:
+        if args.frames_root is None or not args.frames_root.is_dir():
+            raise RunnerError("frames-root is required for RAVNOVES video mode")
+        frames = sorted(args.frames_root.glob("frame-*.png"))
+        expected_count = config["ravnoves"]["expected_frame_count"]
+        expected_names = [f"frame-{sequence + 1:06d}.png" for sequence in range(expected_count)]
+        if len(frames) != expected_count or [frame.name for frame in frames] != expected_names:
+            raise RunnerError("RAVNOVES full-video frame sequence changed")
+        items = [(frame.stem, frame, None) for frame in frames]
+
+    if args.limit:
+        items = items[: args.limit]
+    if not items:
+        raise RunnerError("no inputs were selected")
+
+    visual_contract = config.get("visual_case_contract")
+    if not isinstance(visual_contract, dict):
+        raise RunnerError("visual case contract is unavailable")
+    configured_visual_count = visual_contract.get("case_count")
+    if args.mode == "goose":
+        if args.visual_count != configured_visual_count:
+            raise RunnerError("GOOSE visual count differs from the truth-focused contract")
+        selected_visuals = truth_focused_visuals(items, names, visual_contract)
+    elif args.mode == "ravnoves":
+        selected_visuals = visual_indices(len(items), args.visual_count)
+    else:
+        if args.visual_count != 0 or args.limit:
+            raise RunnerError("RAVNOVES video mode requires the complete frame sequence")
+        selected_visuals = {}
+
+    args.output.mkdir(parents=True, exist_ok=False)
+    torch.cuda.empty_cache()
+    model, model_name, architecture_failures = load_model(args.candidate, args.checkpoint)
+    warmup_source = Image.open(items[0][1]).convert("RGB")
+    warmup_tensor, _ = preprocess(warmup_source)
+    warmup_latencies_ms = [infer(model, warmup_tensor)[1] for _ in range(3)]
+    torch.cuda.reset_peak_memory_stats()
+    confusion = np.zeros((CLASS_COUNT, CLASS_COUNT), dtype=np.int64)
+    latencies_ms: list[float] = []
+    visuals: list[dict[str, Any]] = []
+    mask_root = args.output / "masks" if args.mode == "ravnoves-video" else None
+    if mask_root is not None:
+        mask_root.mkdir()
+    aggregate_prediction_pixels = np.zeros(CLASS_COUNT, dtype=np.int64)
+
+    for index, (case_id, source_path, label_path) in enumerate(items):
+        source = Image.open(source_path).convert("RGB")
+        if args.mode == "ravnoves-video" and source.size != (
+            config["ravnoves"]["expected_width"],
+            config["ravnoves"]["expected_height"],
+        ):
+            raise RunnerError("RAVNOVES video frame dimensions changed")
+        tensor, crop_box = preprocess(source)
+        prediction, latency_ms = infer(model, tensor)
+        latencies_ms.append(latency_ms)
+        if mask_root is not None:
+            expanded_prediction = expand_mask(prediction, source.size, crop_box)
+            save_image(mask_root / f"frame-{index + 1:06d}.png", expanded_prediction, "L")
+            aggregate_prediction_pixels += np.bincount(
+                expanded_prediction.reshape(-1),
+                minlength=CLASS_COUNT,
+            )
+        truth = preprocess_label(Image.open(label_path)) if label_path is not None else None
+        if truth is not None:
+            update_confusion(confusion, truth, prediction)
+        if index in selected_visuals:
+            visuals.append(
+                write_visual_case(
+                    args.output,
+                    case_id,
+                    source,
+                    prediction,
+                    semantic_palette,
+                    policy_palettes,
+                    crop_box,
+                    truth=truth,
+                    focus=selected_visuals[index] or None,
+                    material_codes=material_codes,
+                    error_colors=visual_contract["error_overlay"],
+                    preserve_source_size=args.mode == "ravnoves",
+                )
+            )
+
+    mask_archive = (
+        write_mask_archive(args.output, mask_root, len(items))
+        if mask_root is not None
+        else None
+    )
+    taxonomy = {
+        "schema_version": "missioncore.lab-v1-vegetation-taxonomy/v1",
+        "classes": [
+            {
+                "class_id": label_id,
+                "label": names[label_id],
+                "color_rgb": semantic_palette[label_id, :3].astype(int).tolist(),
+                "disposition": "undefined" if label_id == 0 else "prediction",
+            }
+            for label_id in range(CLASS_COUNT)
+        ],
+    }
+    rows = class_metrics(confusion, names) if args.mode == "goose" else []
+    valid_ious = [row["iou"] for row in rows if row["iou"] is not None]
+    vegetation_names = set(config["vegetation_class_names"])
+    vegetation_rows = [row for row in rows if row["class_name"] in vegetation_names]
+    vegetation_ious = [row["iou"] for row in vegetation_rows if row["iou"] is not None]
+    timing = {
+        "prewarm_inference_count": len(warmup_latencies_ms),
+        "prewarm_latency_ms": round(warmup_latencies_ms[0], 4),
+        "prewarm_latency_ms_last": round(warmup_latencies_ms[-1], 4),
+        "sample_count": len(latencies_ms),
+        "latency_ms_p50": round(percentile(latencies_ms, 0.50), 4),
+        "latency_ms_p95": round(percentile(latencies_ms, 0.95), 4),
+        "latency_ms_mean": round(statistics.fmean(latencies_ms), 4),
+        "throughput_fps_from_mean_inference": round(1000.0 / statistics.fmean(latencies_ms), 4),
+    }
+    result: dict[str, Any] = {
+        "schema_version": SCHEMA,
+        "lab_id": config["lab_id"],
+        "worker_id": config["worker_id"],
+        "mode": args.mode,
+        "candidate": {
+            "candidate_id": candidate_config["candidate_id"],
+            "candidate_key": args.candidate,
+            "loaded_model_name": model_name,
+            "architecture_probe_failures": architecture_failures,
+            "checkpoint_size_bytes": args.checkpoint.stat().st_size,
+            "checkpoint_sha256": checkpoint_sha256,
+        },
+        "source": {
+            "source_id": dataset_config["dataset_id"]
+            if args.mode == "goose"
+            else config["ravnoves"]["source_id"],
+            "input_count": len(items),
+            "ground_truth_available": args.mode == "goose",
+            "mapping_sha256": dataset_config["mapping_sha256"],
+        },
+        "video_semantics": {
+            "base_m4_result_id": config["ravnoves"].get("base_m4_result_id"),
+            "mask_archive": mask_archive,
+            "taxonomy": taxonomy,
+            "aggregate_prediction_pixels": aggregate_prediction_pixels.tolist()
+            if mask_archive is not None
+            else None,
+            "center_crop_xyxy": [100, 0, 700, 600]
+            if mask_archive is not None
+            else None,
+            "outside_crop_state": "undefined" if mask_archive is not None else None,
+        }
+        if args.mode == "ravnoves-video"
+        else None,
+        "preprocessing": dataset_config["preprocessing"],
+        "metrics": {
+            "mean_iou": round(statistics.fmean(valid_ious), 8) if valid_ious else None,
+            "mean_iou_percent": round(statistics.fmean(valid_ious) * 100.0, 4)
+            if valid_ious
+            else None,
+            "published_mean_iou_percent": candidate_config["published_validation_miou_percent"],
+            "vegetation_mean_iou": round(statistics.fmean(vegetation_ious), 8)
+            if vegetation_ious
+            else None,
+            "vegetation_classes": vegetation_rows,
+            "all_classes": rows,
+        },
+        "timing": timing,
+        "resource": {
+            "gpu_name": torch.cuda.get_device_name(0),
+            "peak_allocated_vram_bytes": int(torch.cuda.max_memory_allocated()),
+            "peak_reserved_vram_bytes": int(torch.cuda.max_memory_reserved()),
+            "torch_version": torch.__version__,
+            "cuda_runtime_version": torch.version.cuda,
+            "python_version": platform.python_version(),
+            "super_gradients_version": "3.2.0",
+        },
+        "visual_cases": visuals,
+        "authority": {
+            "navigation_accepted": False,
+            "safety_accepted": False,
+            "actuation_accepted": False,
+            "camera_semantics_can_clear_rigid_geometry": False,
+        },
+    }
+    identity_value = {
+        "schema_version": result["schema_version"],
+        "candidate": result["candidate"],
+        "source": result["source"],
+        "video_semantics": result["video_semantics"],
+        "preprocessing": result["preprocessing"],
+        "metrics": result["metrics"],
+        "timing": result["timing"],
+        "resource": result["resource"],
+        "visual_cases": result["visual_cases"],
+        "authority": result["authority"],
+        "config_sha256": sha256(args.config),
+        "policy_sha256": sha256(args.policy),
+        "provider_map_sha256": sha256(args.provider_map),
+    }
+    result["result_id"] = f"lab-v1-{args.mode}-{args.candidate}-{stable_digest(identity_value)}"
+    result["provenance"] = {
+        "config_sha256": identity_value["config_sha256"],
+        "policy_sha256": identity_value["policy_sha256"],
+        "provider_map_sha256": identity_value["provider_map_sha256"],
+        "hostname": platform.node(),
+        "pid": os.getpid(),
+    }
+    result_path = args.output / "result.json"
+    result_path.write_text(json.dumps(result, indent=2, sort_keys=True) + "\n", encoding="utf-8")
+    print(json.dumps({"result_id": result["result_id"], "result_path": str(result_path)}))
+
+
+if __name__ == "__main__":
+    run()

experiments/perception/worker/m49_t1_gseg3d/Dockerfile

@@ -0,0 +1,65 @@
+FROM ros:jazzy-ros-base@sha256:2589a8fba5257307857890173c069852c2abf913a0be7970f172478baecb09e4
+
+ARG GSEG3D_CORE_REVISION=116f510485ea5b4707e2b476958d34a5a067f647
+ARG GSEG3D_ROS2_REVISION=5c5ba6f5ca0d682db2d59b2ad2f6a317ee938b95
+ARG GROUND_CONSISTENCY_REVISION=41cec620efba6c370dccfc59a6ec1134775ff48a
+ARG BUILD_JOBS=12
+
+ENV DEBIAN_FRONTEND=noninteractive
+SHELL ["/bin/bash", "-o", "pipefail", "-c"]
+
+RUN apt-get update \
+    && apt-get install --yes --no-install-recommends \
+        build-essential \
+        cmake \
+        git \
+        jq \
+        libeigen3-dev \
+        libgtest-dev \
+        libnanoflann-dev \
+        libpcl-dev \
+        ninja-build \
+        ros-jazzy-message-filters \
+        ros-jazzy-nav2-costmap-2d \
+        ros-jazzy-pcl-conversions \
+        ros-jazzy-rclcpp-lifecycle \
+        ros-jazzy-tf2-eigen \
+        ros-jazzy-tf2-geometry-msgs \
+        time \
+    && rm -rf /var/lib/apt/lists/*
+
+WORKDIR /opt/m49/src
+
+RUN git clone --filter=blob:none https://github.com/dfki-ric/ground_segmentation.git \
+    && git -C ground_segmentation checkout --detach "${GSEG3D_CORE_REVISION}" \
+    && git clone --filter=blob:none https://github.com/dfki-ric/ground_segmentation_ros2.git \
+    && git -C ground_segmentation_ros2 checkout --detach "${GSEG3D_ROS2_REVISION}" \
+    && git clone --filter=blob:none https://github.com/dfki-ric/nav2_ground_consistency_costmap_plugin.git \
+    && git -C nav2_ground_consistency_costmap_plugin checkout --detach "${GROUND_CONSISTENCY_REVISION}"
+
+RUN cmake -S /opt/m49/src/ground_segmentation \
+        -B /opt/m49/core-build \
+        -G Ninja \
+        -DCMAKE_BUILD_TYPE=Release \
+        -DCMAKE_INSTALL_PREFIX=/opt/m49/core-install \
+    && cmake --build /opt/m49/core-build --parallel "${BUILD_JOBS}" \
+    && ctest --test-dir /opt/m49/core-build --output-on-failure \
+    && cmake --install /opt/m49/core-build
+
+RUN source /opt/ros/jazzy/setup.bash \
+    && export CMAKE_PREFIX_PATH="/opt/m49/core-install:${CMAKE_PREFIX_PATH:-}" \
+    && colcon build \
+        --base-paths \
+          /opt/m49/src/ground_segmentation_ros2 \
+          /opt/m49/src/nav2_ground_consistency_costmap_plugin \
+        --build-base /opt/m49/ros-build \
+        --install-base /opt/m49/ros-install \
+        --merge-install \
+        --cmake-args -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTING=ON \
+        --executor sequential \
+        --event-handlers console_direct+
+
+COPY qualify.sh /usr/local/bin/m49-gseg3d-qualify
+RUN chmod 0755 /usr/local/bin/m49-gseg3d-qualify
+
+ENTRYPOINT ["/usr/local/bin/m49-gseg3d-qualify"]

experiments/perception/worker/m49_t1_gseg3d/qualify.sh

@@ -0,0 +1,100 @@
+#!/usr/bin/env bash
+set -euo pipefail
+
+readonly EVIDENCE_ROOT=/evidence
+readonly RESULT_PATH="${EVIDENCE_ROOT}/result.json"
+readonly LOG_PATH="${EVIDENCE_ROOT}/qualification.log"
+readonly RESOURCE_PATH="${EVIDENCE_ROOT}/resource.txt"
+readonly STARTED_UTC="$(date -u +%Y-%m-%dT%H:%M:%SZ)"
+readonly STARTED_NS="$(date +%s%N)"
+
+mkdir -p "${EVIDENCE_ROOT}"
+if [[ -e "${RESULT_PATH}" || -e "${LOG_PATH}" || -e "${RESOURCE_PATH}" ]]; then
+  echo "evidence output already exists" >&2
+  exit 2
+fi
+
+status=failed
+failure_stage=bootstrap
+
+finalize() {
+  local exit_code=$?
+  local completed_ns
+  local elapsed_ms
+  completed_ns="$(date +%s%N)"
+  elapsed_ms="$(( (completed_ns - STARTED_NS) / 1000000 ))"
+  python3 - "${RESULT_PATH}" "${status}" "${failure_stage}" "${exit_code}" \
+    "${STARTED_UTC}" "${elapsed_ms}" <<'PY'
+import json
+import pathlib
+import sys
+
+target, status, stage, exit_code, started_utc, elapsed_ms = sys.argv[1:]
+document = {
+    "schema_version": "missioncore.m49-t1-gseg3d-upstream-qualification/v1",
+    "status": status,
+    "failure_stage": None if status == "passed" else stage,
+    "exit_code": int(exit_code),
+    "started_utc": started_utc,
+    "elapsed_ms": int(elapsed_ms),
+    "authority": {
+        "candidate_build_qualified": status == "passed",
+        "ravnoves00_quality_accepted": False,
+        "realtime_accepted": False,
+        "navigation_or_actuation_allowed": False,
+    },
+    "revisions": {
+        "ground_segmentation": "116f510485ea5b4707e2b476958d34a5a067f647",
+        "ground_segmentation_ros2": "5c5ba6f5ca0d682db2d59b2ad2f6a317ee938b95",
+        "ground_consistency": "41cec620efba6c370dccfc59a6ec1134775ff48a",
+    },
+}
+pathlib.Path(target).write_text(
+    json.dumps(document, indent=2, sort_keys=True) + "\n", encoding="utf-8"
+)
+PY
+}
+trap finalize EXIT
+
+exec > >(tee "${LOG_PATH}") 2>&1
+
+failure_stage=source-integrity
+test "$(git -C /opt/m49/src/ground_segmentation rev-parse HEAD)" = \
+  "116f510485ea5b4707e2b476958d34a5a067f647"
+test "$(git -C /opt/m49/src/ground_segmentation_ros2 rev-parse HEAD)" = \
+  "5c5ba6f5ca0d682db2d59b2ad2f6a317ee938b95"
+test "$(git -C /opt/m49/src/nav2_ground_consistency_costmap_plugin rev-parse HEAD)" = \
+  "41cec620efba6c370dccfc59a6ec1134775ff48a"
+test -z "$(git -C /opt/m49/src/ground_segmentation status --porcelain)"
+test -z "$(git -C /opt/m49/src/ground_segmentation_ros2 status --porcelain)"
+test -z "$(git -C /opt/m49/src/nav2_ground_consistency_costmap_plugin status --porcelain)"
+
+failure_stage=core-upstream-tests
+/usr/bin/time -v -o "${RESOURCE_PATH}" \
+  ctest --test-dir /opt/m49/core-build --output-on-failure
+
+failure_stage=ros2-plugin-tests
+# ROS 2 environment hooks legitimately probe unset variables. Keep strict mode
+# for the qualification itself, but do not let nounset turn a standard setup
+# hook into a false candidate failure.
+set +u
+source /opt/ros/jazzy/setup.bash
+source /opt/m49/ros-install/setup.bash
+set -u
+colcon test \
+  --build-base /opt/m49/ros-build \
+  --install-base /opt/m49/ros-install \
+  --test-result-base /opt/m49/test-results \
+  --merge-install \
+  --packages-select nav2_ground_consistency_costmap_plugin \
+  --event-handlers console_direct+
+colcon test-result --test-result-base /opt/m49/test-results --verbose
+
+failure_stage=ros2-discovery
+ros2 pkg prefix ground_segmentation_ros2
+ros2 pkg prefix nav2_ground_consistency_costmap_plugin
+ros2 pkg executables ground_segmentation_ros2 | \
+  grep -F "ground_segmentation_ros2_node"
+
+failure_stage=complete
+status=passed

experiments/perception/worker/m49_t3_travel/Dockerfile

@@ -0,0 +1,72 @@
+FROM ros:jazzy-ros-base@sha256:2589a8fba5257307857890173c069852c2abf913a0be7970f172478baecb09e4
+
+SHELL ["/bin/bash", "-o", "pipefail", "-c"]
+
+ARG TRAVEL_REVISION=95dc2fbd66a343efd9060c45a5711b6307a950a4
+ARG KITTI_FIXTURE_SHA256=bf272996d5b6d25cc5589e1089137cb20a98b63bd4823a7fea5631b359f6d68c
+ARG KITTI_GOLD_SHA256=8aaacaa57d17a8a2f043c3ea0a0c134d36a3c50da2385f2364ca4eff53ea9b9f
+
+ENV DEBIAN_FRONTEND=noninteractive
+
+RUN apt-get update \
+    && apt-get install -y --no-install-recommends \
+        build-essential \
+        ca-certificates \
+        cmake \
+        curl \
+        git \
+        libboost-filesystem-dev \
+        libboost-system-dev \
+        libeigen3-dev \
+        libpcl-dev \
+        mpi-default-dev \
+        python3-colcon-common-extensions \
+        ros-jazzy-pcl-conversions \
+        ros-jazzy-rclcpp \
+        ros-jazzy-sensor-msgs \
+        ros-jazzy-std-msgs \
+        time \
+    && rm -rf /var/lib/apt/lists/*
+
+RUN mkdir -p /opt/travel/src/TRAVEL \
+    && git -C /opt/travel/src/TRAVEL init \
+    && git -C /opt/travel/src/TRAVEL remote add origin https://github.com/url-kaist/TRAVEL.git \
+    && git -C /opt/travel/src/TRAVEL fetch --depth 1 origin "${TRAVEL_REVISION}" \
+    && git -C /opt/travel/src/TRAVEL checkout --detach FETCH_HEAD \
+    && test "$(git -C /opt/travel/src/TRAVEL rev-parse HEAD)" = "${TRAVEL_REVISION}" \
+    && test -z "$(git -C /opt/travel/src/TRAVEL status --porcelain)"
+
+RUN mkdir -p /opt/travel/fixture/00/velodyne \
+    && curl -L --fail --retry 3 \
+        -o /opt/travel/fixture/00/velodyne/000000.bin \
+        https://github.com/url-kaist/TRAVEL/releases/download/test-data-v1/kitti00_000000.bin \
+    && test "$(stat -c%s /opt/travel/fixture/00/velodyne/000000.bin)" = "1994688" \
+    && echo "${KITTI_FIXTURE_SHA256}  /opt/travel/fixture/00/velodyne/000000.bin" | sha256sum -c - \
+    && echo "${KITTI_GOLD_SHA256}  /opt/travel/src/TRAVEL/cpp/tests/data/kitti00_000000_gold.bin" | sha256sum -c -
+
+RUN cmake \
+        -S /opt/travel/src/TRAVEL/cpp/travel \
+        -B /opt/travel/core-build \
+        -DTRAVEL_BUILD_EXAMPLES=ON \
+        -DTRAVEL_BUILD_TESTS=ON \
+        -DCMAKE_BUILD_TYPE=Release \
+    && cmake --build /opt/travel/core-build \
+        --target regression_kitti run_travel_kitti \
+        --parallel 16
+
+RUN set +u \
+    && source /opt/ros/jazzy/setup.bash \
+    && set -u \
+    && colcon build \
+        --base-paths /opt/travel/src/TRAVEL \
+        --build-base /opt/travel/ros-build \
+        --install-base /opt/travel/ros-install \
+        --merge-install \
+        --packages-select travel_ros \
+        --cmake-args -DCMAKE_BUILD_TYPE=Release \
+    && test -x /opt/travel/ros-install/lib/travel_ros/travel_node
+
+COPY qualify.sh /usr/local/bin/m49-t3-travel-qualify
+RUN chmod 0755 /usr/local/bin/m49-t3-travel-qualify
+
+ENTRYPOINT ["/usr/local/bin/m49-t3-travel-qualify"]

experiments/perception/worker/m49_t3_travel/analyze_ravnoves_probe.py

@@ -0,0 +1,214 @@
+#!/usr/bin/env python3
+"""Analyze TRAVEL partitions without assigning navigation or visual-quality authority."""
+
+from __future__ import annotations
+
+import argparse
+import csv
+import hashlib
+import json
+from collections import Counter
+from pathlib import Path
+
+import numpy as np
+
+
+class ProbeAnalysisError(RuntimeError):
+    """The candidate output does not satisfy the evidence contract."""
+
+
+def sha256_file(path: Path) -> str:
+    digest = hashlib.sha256()
+    with path.open("rb") as stream:
+        for chunk in iter(lambda: stream.read(1024 * 1024), b""):
+            digest.update(chunk)
+    return digest.hexdigest()
+
+
+def _load(path: Path, columns: int) -> np.ndarray:
+    values = np.fromfile(path, dtype=np.float32)
+    if values.size % columns:
+        raise ProbeAnalysisError(f"malformed float32 output: {path}")
+    result = values.reshape(-1, columns)
+    if not np.isfinite(result).all():
+        raise ProbeAnalysisError(f"non-finite output: {path}")
+    return result
+
+
+def _point_multiset(points: np.ndarray) -> Counter[bytes]:
+    contiguous = np.ascontiguousarray(points[:, :3], dtype=np.float32)
+    return Counter(row.tobytes() for row in contiguous)
+
+
+def multiset_jaccard(left: np.ndarray, right: np.ndarray) -> float:
+    left_counts = _point_multiset(left)
+    right_counts = _point_multiset(right)
+    keys = left_counts.keys() | right_counts.keys()
+    intersection = sum(min(left_counts[key], right_counts[key]) for key in keys)
+    union = sum(max(left_counts[key], right_counts[key]) for key in keys)
+    return 1.0 if union == 0 else intersection / union
+
+
+def _timings(path: Path) -> dict[tuple[str, str, int], dict[str, float | int]]:
+    result: dict[tuple[str, str, int], dict[str, float | int]] = {}
+    with path.open(newline="", encoding="utf-8") as stream:
+        for row in csv.DictReader(stream, delimiter="\t"):
+            key = (row["profile"], row["variant"], int(row["slot"]))
+            result[key] = {
+                "wall_seconds": float(row["wall_seconds"]),
+                "max_rss_kib": int(row["max_rss_kib"]),
+            }
+    if len(result) != 40:
+        raise ProbeAnalysisError("timing row count changed")
+    return result
+
+
+def analyze(probe_root: Path, config_path: Path) -> dict[str, object]:
+    inputs = probe_root / "inputs"
+    outputs = probe_root / "outputs"
+    manifest = json.loads((inputs / "input-manifest.json").read_text(encoding="utf-8"))
+    config = json.loads(config_path.read_text(encoding="utf-8"))
+    if (
+        manifest.get("schema_version") != "missioncore.m49-travel-ravnoves-probe-input/v1"
+        or manifest.get("config_sha256") != sha256_file(config_path)
+        or len(manifest.get("records", [])) != 20
+    ):
+        raise ProbeAnalysisError("probe input manifest changed")
+    timings = _timings(probe_root / "travel-timing.tsv")
+    rows: list[dict[str, object]] = []
+    variants: dict[tuple[str, int, str], np.ndarray] = {}
+    for record in manifest["records"]:
+        profile = str(record["profile_id"])
+        slot = int(record["slot"])
+        for variant in ("source", "reversed"):
+            input_path = inputs / record["variants"][variant]["relative_path"]
+            if sha256_file(input_path) != record["variants"][variant]["sha256"]:
+                raise ProbeAnalysisError("probe input changed after preparation")
+            native = _load(input_path, 4)
+            xy_range = np.linalg.norm(native[:, :2].astype(np.float64), axis=1)
+            eligible_input_points = int(np.count_nonzero((xy_range > 1.0) & (xy_range < 80.0)))
+            base = outputs / profile / variant / str(slot)
+            ground = _load(base.with_name(base.name + "_ground.bin"), 4)
+            nonground = _load(base.with_name(base.name + "_nonground.bin"), 4)
+            labeled = _load(base.with_name(base.name + "_labeled.bin"), 5)
+            variants[(profile, slot, variant + "-ground")] = ground
+            variants[(profile, slot, variant + "-nonground")] = nonground
+            variants[(profile, slot, variant + "-labeled")] = labeled
+            cluster_ids = np.unique(labeled[:, 4].astype(np.int64))
+            cluster_ids = cluster_ids[cluster_ids > 0]
+            rows.append(
+                {
+                    "profile_id": profile,
+                    "slot": slot,
+                    "anchor_frame_index": int(record["anchor_frame_index"]),
+                    "variant": variant,
+                    "input_points": int(native.shape[0]),
+                    "eligible_input_points": eligible_input_points,
+                    "ground_points": int(ground.shape[0]),
+                    "nonground_points": int(nonground.shape[0]),
+                    "labeled_points": int(labeled.shape[0]),
+                    "cluster_count": int(cluster_ids.size),
+                    "partition_accounted_for_all_eligible_input_points": bool(
+                        ground.shape[0] + nonground.shape[0] == eligible_input_points
+                    ),
+                    "nonground_labeled_fraction": (
+                        1.0
+                        if nonground.shape[0] == 0
+                        else float(labeled.shape[0] / nonground.shape[0])
+                    ),
+                    **timings[(profile, variant, slot)],
+                }
+            )
+    threshold = float(config["compatibility_acceptance"]["minimum_partition_multiset_jaccard"])
+    labeled_threshold = float(
+        config["compatibility_acceptance"]["minimum_labeled_multiset_jaccard"]
+    )
+    comparisons: list[dict[str, object]] = []
+    for profile in ("current_increment", "causal_rolling_1s"):
+        for slot, anchor in enumerate(config["anchors"]):
+            ground_jaccard = multiset_jaccard(
+                variants[(profile, slot, "source-ground")],
+                variants[(profile, slot, "reversed-ground")],
+            )
+            nonground_jaccard = multiset_jaccard(
+                variants[(profile, slot, "source-nonground")],
+                variants[(profile, slot, "reversed-nonground")],
+            )
+            labeled_jaccard = multiset_jaccard(
+                variants[(profile, slot, "source-labeled")],
+                variants[(profile, slot, "reversed-labeled")],
+            )
+            comparisons.append(
+                {
+                    "profile_id": profile,
+                    "slot": slot,
+                    "anchor_frame_index": int(anchor),
+                    "ground_multiset_jaccard": ground_jaccard,
+                    "nonground_multiset_jaccard": nonground_jaccard,
+                    "labeled_multiset_jaccard": labeled_jaccard,
+                    "partition_order_accepted": bool(
+                        ground_jaccard >= threshold and nonground_jaccard >= threshold
+                    ),
+                    "aos_order_accepted": bool(labeled_jaccard >= labeled_threshold),
+                }
+            )
+    partition_complete = all(
+        bool(row["partition_accounted_for_all_eligible_input_points"]) for row in rows
+    )
+    partition_order = all(bool(row["partition_order_accepted"]) for row in comparisons)
+    aos_order = all(bool(row["aos_order_accepted"]) for row in comparisons)
+    wall = np.asarray([float(row["wall_seconds"]) for row in rows], dtype=np.float64)
+    rss = np.asarray([int(row["max_rss_kib"]) for row in rows], dtype=np.int64)
+    result = {
+        "schema_version": "missioncore.m49-travel-ravnoves-compatibility-result/v1",
+        "status": "passed",
+        "source_pack_sha256": manifest["source_pack_sha256"],
+        "config_sha256": manifest["config_sha256"],
+        "input_record_count": len(manifest["records"]),
+        "candidate_run_count": len(rows),
+        "rows": rows,
+        "order_comparisons": comparisons,
+        "summary": {
+            "partition_complete": partition_complete,
+            "partition_order_accepted": partition_order,
+            "aos_order_accepted": aos_order,
+            "direct_upstream_profile_compatible": bool(
+                partition_complete and partition_order and aos_order
+            ),
+            "wall_seconds_p50": float(np.median(wall)),
+            "wall_seconds_p95": float(np.percentile(wall, 95)),
+            "max_rss_kib": int(rss.max()),
+            "minimum_ground_multiset_jaccard": min(
+                float(row["ground_multiset_jaccard"]) for row in comparisons
+            ),
+            "minimum_nonground_multiset_jaccard": min(
+                float(row["nonground_multiset_jaccard"]) for row in comparisons
+            ),
+            "minimum_labeled_multiset_jaccard": min(
+                float(row["labeled_multiset_jaccard"]) for row in comparisons
+            ),
+        },
+        "authority": {
+            "ravnoves00_visual_quality_accepted": False,
+            "realtime_accepted": False,
+            "navigation_or_actuation_allowed": False,
+        },
+    }
+    (probe_root / "result.json").write_text(
+        json.dumps(result, indent=2, sort_keys=True) + "\n", encoding="utf-8"
+    )
+    return result
+
+
+def main() -> int:
+    parser = argparse.ArgumentParser()
+    parser.add_argument("--probe-root", type=Path, required=True)
+    parser.add_argument("--config", type=Path, required=True)
+    arguments = parser.parse_args()
+    result = analyze(arguments.probe_root, arguments.config)
+    print(json.dumps(result["summary"], indent=2, sort_keys=True))
+    return 0
+
+
+if __name__ == "__main__":
+    raise SystemExit(main())

experiments/perception/worker/m49_t3_travel/build_tgs_fail_closed_evidence.py

@@ -0,0 +1,297 @@
+#!/usr/bin/env python3
+"""Build a fail-closed TGS evidence pack from the sealed compatibility run."""
+
+from __future__ import annotations
+
+import argparse
+import hashlib
+import io
+import json
+import math
+import zipfile
+from collections import Counter
+from pathlib import Path
+
+import numpy as np
+
+
+class TgsEvidenceError(RuntimeError):
+    """The sealed compatibility evidence or fail-closed contract is invalid."""
+
+
+def sha256_file(path: Path) -> str:
+    digest = hashlib.sha256()
+    with path.open("rb") as stream:
+        for chunk in iter(lambda: stream.read(1024 * 1024), b""):
+            digest.update(chunk)
+    return digest.hexdigest()
+
+
+def _load_float32(path: Path, columns: int) -> np.ndarray:
+    if path.is_symlink() or not path.is_file():
+        raise TgsEvidenceError(f"sealed input is unavailable: {path.name}")
+    values = np.fromfile(path, dtype=np.float32)
+    if values.size % columns:
+        raise TgsEvidenceError(f"sealed input shape changed: {path.name}")
+    result = values.reshape(-1, columns)
+    if not np.isfinite(result).all():
+        raise TgsEvidenceError(f"sealed input is non-finite: {path.name}")
+    return result
+
+
+def classify_exact_input(
+    native: np.ndarray,
+    ground: np.ndarray,
+    nonground: np.ndarray,
+    *,
+    min_range_m: float = 1.0,
+    max_range_m: float = 80.0,
+) -> tuple[np.ndarray, np.ndarray]:
+    points = np.asarray(native, dtype=np.float32)
+    if points.ndim != 2 or points.shape[1:] != (4,):
+        raise TgsEvidenceError("native XYZI input shape changed")
+    ranges = np.linalg.norm(points[:, :2].astype(np.float64), axis=1)
+    eligible = points[(ranges > min_range_m) & (ranges < max_range_m)]
+    ground_counts = Counter(row[:3].tobytes() for row in ground)
+    nonground_counts = Counter(row[:3].tobytes() for row in nonground)
+    states = np.empty(eligible.shape[0], dtype=np.uint8)
+    for index, row in enumerate(eligible):
+        key = row[:3].tobytes()
+        if ground_counts[key] > 0:
+            states[index] = 1
+            ground_counts[key] -= 1
+        elif nonground_counts[key] > 0:
+            states[index] = 2
+            nonground_counts[key] -= 1
+        else:
+            states[index] = 3
+    if any(value for value in ground_counts.values()) or any(
+        value for value in nonground_counts.values()
+    ):
+        raise TgsEvidenceError("TGS output is not a multiset subset of its exact input")
+    if not np.isin(states, np.asarray([1, 2, 3], dtype=np.uint8)).all():
+        raise TgsEvidenceError("point state reconstruction failed")
+    return eligible[:, :3].copy(), states
+
+
+def costmap_grid(radius_m: float, cell_size_m: float) -> np.ndarray:
+    if not math.isfinite(radius_m) or not math.isfinite(cell_size_m):
+        raise TgsEvidenceError("costmap bounds are non-finite")
+    if radius_m <= 0 or cell_size_m <= 0 or cell_size_m > radius_m:
+        raise TgsEvidenceError("costmap bounds are invalid")
+    minimum = math.floor(-radius_m / cell_size_m)
+    maximum = math.ceil(radius_m / cell_size_m)
+    cells = []
+    for ix in range(minimum, maximum):
+        for iy in range(minimum, maximum):
+            center_x = (ix + 0.5) * cell_size_m
+            center_y = (iy + 0.5) * cell_size_m
+            if math.hypot(center_x, center_y) <= radius_m:
+                cells.append((ix, iy, center_x, center_y))
+    if not cells:
+        raise TgsEvidenceError("costmap grid is empty")
+    return np.asarray(cells, dtype=np.float64)
+
+
+def rasterize_costmap(
+    points_xyz: np.ndarray,
+    point_states: np.ndarray,
+    grid: np.ndarray,
+    *,
+    cell_size_m: float,
+) -> tuple[np.ndarray, np.ndarray, np.ndarray, np.ndarray, np.ndarray]:
+    lookup = {(int(row[0]), int(row[1])): index for index, row in enumerate(grid)}
+    counts = np.zeros((grid.shape[0], 3), dtype=np.int32)
+    minimum_z = np.full(grid.shape[0], np.nan, dtype=np.float32)
+    maximum_z = np.full(grid.shape[0], np.nan, dtype=np.float32)
+    for point, state in zip(points_xyz, point_states, strict=True):
+        cell = (
+            math.floor(float(point[0]) / cell_size_m),
+            math.floor(float(point[1]) / cell_size_m),
+        )
+        cell_index = lookup.get(cell)
+        if cell_index is None:
+            continue
+        counts[cell_index, int(state) - 1] += 1
+        z = np.float32(point[2])
+        if np.isnan(minimum_z[cell_index]) or z < minimum_z[cell_index]:
+            minimum_z[cell_index] = z
+        if np.isnan(maximum_z[cell_index]) or z > maximum_z[cell_index]:
+            maximum_z[cell_index] = z
+    states = np.zeros(grid.shape[0], dtype=np.uint8)
+    states[counts[:, 0] > 0] = 1
+    states[counts[:, 2] > 0] = 3
+    states[counts[:, 1] > 0] = 2
+    return states, counts[:, 0], counts[:, 1], counts[:, 2], np.column_stack((minimum_z, maximum_z))
+
+
+def _array_bytes(array: np.ndarray) -> bytes:
+    stream = io.BytesIO()
+    np.lib.format.write_array(stream, np.ascontiguousarray(array), allow_pickle=False)
+    return stream.getvalue()
+
+
+def write_deterministic_npz(path: Path, arrays: dict[str, np.ndarray]) -> None:
+    with zipfile.ZipFile(
+        path, mode="w", compression=zipfile.ZIP_DEFLATED, compresslevel=6
+    ) as archive:
+        for name in sorted(arrays):
+            info = zipfile.ZipInfo(f"{name}.npy", date_time=(1980, 1, 1, 0, 0, 0))
+            info.compress_type = zipfile.ZIP_DEFLATED
+            info.external_attr = 0o100644 << 16
+            archive.writestr(info, _array_bytes(arrays[name]))
+
+
+def build(run_root: Path, config_path: Path, output_root: Path) -> dict[str, object]:
+    if output_root.exists():
+        raise TgsEvidenceError("TGS evidence output already exists")
+    config = json.loads(config_path.read_text(encoding="utf-8"))
+    if (
+        config.get("schema_version") != "missioncore.m49-tgs-fail-closed-evidence-profile/v1"
+        or config.get("invariants", {}).get("aos_allowed") is not False
+        or config.get("invariants", {}).get("missing_support_means_free") is not False
+        or config.get("state_codes")
+        != {
+            "UNOBSERVED": 0,
+            "GROUND_SUPPORT": 1,
+            "NONGROUND_OCCUPIED": 2,
+            "UNKNOWN_REJECTED": 3,
+        }
+    ):
+        raise TgsEvidenceError("TGS fail-closed profile changed")
+    input_manifest_path = run_root / "inputs" / "input-manifest.json"
+    input_manifest = json.loads(input_manifest_path.read_text(encoding="utf-8"))
+    if (
+        input_manifest.get("schema_version") != "missioncore.m49-tgs-fail-closed-input/v1"
+        or input_manifest.get("source_pack_sha256") != config["source"]["source_pack_sha256"]
+        or input_manifest.get("config_sha256") != sha256_file(config_path)
+        or input_manifest.get("coordinate_frame") != "map-gravity-local"
+        or input_manifest.get("future_frames_used") is not False
+        or len(input_manifest.get("records", [])) != 20
+    ):
+        raise TgsEvidenceError("sealed TGS input manifest changed")
+    records = {(str(row["profile_id"]), int(row["slot"])): row for row in input_manifest["records"]}
+    cell_size = float(config["costmap"]["cell_size_m"])
+    radius = float(config["costmap"]["radius_m"])
+    grid = costmap_grid(radius, cell_size)
+    arrays: dict[str, np.ndarray] = {
+        "costmap_cell_indices_xy": grid[:, :2].astype(np.int32),
+        "costmap_cell_centers_xy_m": grid[:, 2:].astype(np.float32),
+    }
+    summaries: list[dict[str, object]] = []
+    for profile in ("current_increment", "causal_rolling_1s"):
+        all_points: list[np.ndarray] = []
+        all_states: list[np.ndarray] = []
+        offsets = [0]
+        profile_grid_states: list[np.ndarray] = []
+        profile_ground_counts: list[np.ndarray] = []
+        profile_nonground_counts: list[np.ndarray] = []
+        profile_rejected_counts: list[np.ndarray] = []
+        profile_z_bounds: list[np.ndarray] = []
+        for slot in range(10):
+            record = records[(profile, slot)]
+            native_path = run_root / "inputs" / record["relative_path"]
+            if sha256_file(native_path) != record["sha256"]:
+                raise TgsEvidenceError("sealed gravity-aligned input changed")
+            output = run_root / "outputs" / profile
+            points, states = classify_exact_input(
+                _load_float32(native_path, 4),
+                _load_float32(output / f"{slot}_ground.bin", 4),
+                _load_float32(output / f"{slot}_nonground.bin", 4),
+            )
+            grid_state, ground_count, nonground_count, rejected_count, z_bounds = rasterize_costmap(
+                points, states, grid, cell_size_m=cell_size
+            )
+            all_points.append(points.astype(np.float32, copy=False))
+            all_states.append(states)
+            offsets.append(offsets[-1] + points.shape[0])
+            profile_grid_states.append(grid_state)
+            profile_ground_counts.append(ground_count)
+            profile_nonground_counts.append(nonground_count)
+            profile_rejected_counts.append(rejected_count)
+            profile_z_bounds.append(z_bounds)
+            summaries.append(
+                {
+                    "profile_id": profile,
+                    "slot": slot,
+                    "anchor_frame_index": int(record["anchor_frame_index"]),
+                    "point_count": int(points.shape[0]),
+                    "ground_point_count": int(np.count_nonzero(states == 1)),
+                    "nonground_point_count": int(np.count_nonzero(states == 2)),
+                    "rejected_point_count": int(np.count_nonzero(states == 3)),
+                    "ground_cell_count": int(np.count_nonzero(grid_state == 1)),
+                    "nonground_cell_count": int(np.count_nonzero(grid_state == 2)),
+                    "rejected_cell_count": int(np.count_nonzero(grid_state == 3)),
+                    "unobserved_cell_count": int(np.count_nonzero(grid_state == 0)),
+                    "all_points_accounted": bool(
+                        np.count_nonzero(states == 1)
+                        + np.count_nonzero(states == 2)
+                        + np.count_nonzero(states == 3)
+                        == points.shape[0]
+                    ),
+                }
+            )
+        arrays[f"{profile}_points_xyz_m"] = np.concatenate(all_points, axis=0)
+        arrays[f"{profile}_point_states"] = np.concatenate(all_states, axis=0)
+        arrays[f"{profile}_point_offsets"] = np.asarray(offsets, dtype=np.int64)
+        arrays[f"{profile}_costmap_states"] = np.stack(profile_grid_states)
+        arrays[f"{profile}_costmap_ground_point_counts"] = np.stack(profile_ground_counts)
+        arrays[f"{profile}_costmap_nonground_point_counts"] = np.stack(profile_nonground_counts)
+        arrays[f"{profile}_costmap_rejected_point_counts"] = np.stack(profile_rejected_counts)
+        arrays[f"{profile}_costmap_z_bounds_m"] = np.stack(profile_z_bounds)
+    if not all(bool(row["all_points_accounted"]) for row in summaries):
+        raise TgsEvidenceError("fail-closed evidence lost an eligible input point")
+    output_root.mkdir(parents=True)
+    evidence_path = output_root / "evidence.npz"
+    write_deterministic_npz(evidence_path, arrays)
+    result = {
+        "schema_version": "missioncore.m49-tgs-fail-closed-evidence-result/v1",
+        "status": "passed",
+        "config_sha256": sha256_file(config_path),
+        "source_pack_sha256": input_manifest["source_pack_sha256"],
+        "input_manifest_sha256": sha256_file(input_manifest_path),
+        "evidence": {
+            "path": "evidence.npz",
+            "bytes": evidence_path.stat().st_size,
+            "sha256": sha256_file(evidence_path),
+        },
+        "costmap": {
+            "coordinate_frame": "map-gravity-local",
+            "cell_size_m": cell_size,
+            "radius_m": radius,
+            "cell_count": int(grid.shape[0]),
+        },
+        "anchors": summaries,
+        "summary": {
+            "anchor_profile_count": len(summaries),
+            "all_eligible_points_accounted": True,
+            "aos_used": False,
+            "primary_profile": "causal_rolling_1s",
+        },
+        "authority": {
+            "visual_quality_accepted": False,
+            "traversability_accepted": False,
+            "realtime_accepted": False,
+            "navigation_or_actuation_allowed": False,
+        },
+    }
+    result_path_out = output_root / "result.json"
+    result_path_out.write_text(
+        json.dumps(result, indent=2, sort_keys=True) + "\n", encoding="utf-8"
+    )
+    return result
+
+
+def main() -> int:
+    parser = argparse.ArgumentParser()
+    parser.add_argument("--run-root", type=Path, required=True)
+    parser.add_argument("--config", type=Path, required=True)
+    parser.add_argument("--output-root", type=Path, required=True)
+    arguments = parser.parse_args()
+    result = build(arguments.run_root, arguments.config, arguments.output_root)
+    print(json.dumps(result["summary"], indent=2, sort_keys=True))
+    return 0
+
+
+if __name__ == "__main__":
+    raise SystemExit(main())

experiments/perception/worker/m49_t3_travel/build_tgs_full_shadow_binary.sh

@@ -0,0 +1,15 @@
+#!/usr/bin/env bash
+set -euo pipefail
+
+readonly TARGET=${1:?target binary path is required}
+
+test -f /release/run_tgs_full_shadow.cpp
+test ! -e "${TARGET}"
+mkdir -p "$(dirname "${TARGET}")"
+g++ -std=c++17 -O3 -DNDEBUG -pthread \
+  -I/opt/travel/src/TRAVEL/cpp/travel/core \
+  -I/usr/include/eigen3 \
+  /release/run_tgs_full_shadow.cpp \
+  -o "${TARGET}"
+chmod 0755 "${TARGET}"
+sha256sum "${TARGET}"

experiments/perception/worker/m49_t3_travel/build_tgs_full_shadow_evidence.py

@@ -0,0 +1,332 @@
+#!/usr/bin/env python3
+"""Build mmap-friendly evidence for the complete source-paced TGS shadow."""
+
+from __future__ import annotations
+
+import argparse
+import csv
+import hashlib
+import json
+import math
+from pathlib import Path
+
+import numpy as np
+
+from build_tgs_fail_closed_evidence import costmap_grid
+
+
+class FullShadowError(RuntimeError):
+    """The complete TGS shadow or its fail-closed contract is invalid."""
+
+
+def sha256_file(path: Path) -> str:
+    digest = hashlib.sha256()
+    with path.open("rb") as stream:
+        for chunk in iter(lambda: stream.read(1024 * 1024), b""):
+            digest.update(chunk)
+    return digest.hexdigest()
+
+
+def load_xyzi(path: Path) -> np.ndarray:
+    if path.is_symlink() or not path.is_file():
+        raise FullShadowError(f"sealed input is unavailable: {path.name}")
+    values = np.fromfile(path, dtype=np.float32)
+    if values.size % 4:
+        raise FullShadowError(f"sealed XYZI shape changed: {path.name}")
+    result = values.reshape(-1, 4)
+    if not np.isfinite(result).all():
+        raise FullShadowError(f"sealed XYZI is non-finite: {path.name}")
+    return result
+
+
+def classify_exact_input(
+    native: np.ndarray, ground: np.ndarray, nonground: np.ndarray
+) -> tuple[np.ndarray, np.ndarray]:
+    ranges = np.linalg.norm(native[:, :2].astype(np.float64), axis=1)
+    points = np.ascontiguousarray(native[(ranges > 1.0) & (ranges < 80.0), :3])
+    output = np.ascontiguousarray(np.concatenate((ground[:, :3], nonground[:, :3]), axis=0))
+    output_states = np.concatenate(
+        (np.ones(ground.shape[0], dtype=np.uint8), np.full(nonground.shape[0], 2, dtype=np.uint8))
+    )
+    key_dtype = np.dtype((np.void, 12))
+    input_keys = points.view(key_dtype).reshape(-1)
+    output_keys = output.view(key_dtype).reshape(-1)
+    input_order = np.argsort(input_keys, kind="stable")
+    output_order = np.argsort(output_keys, kind="stable")
+    sorted_input = input_keys[input_order]
+    sorted_output = output_keys[output_order]
+    positions = np.searchsorted(sorted_input, sorted_output, side="left")
+    if sorted_output.size:
+        group_starts = np.r_[0, np.flatnonzero(sorted_output[1:] != sorted_output[:-1]) + 1]
+        group_lengths = np.diff(np.r_[group_starts, sorted_output.size])
+        occurrence = np.arange(sorted_output.size) - np.repeat(group_starts, group_lengths)
+        targets = positions + occurrence
+        if (
+            np.any(targets >= sorted_input.size)
+            or np.any(sorted_input[targets] != sorted_output)
+            or np.unique(targets).size != targets.size
+        ):
+            raise FullShadowError("TGS output is not a multiset subset of its exact input")
+    else:
+        targets = np.empty(0, dtype=np.int64)
+    sorted_states = np.full(points.shape[0], 3, dtype=np.uint8)
+    sorted_states[targets] = output_states[output_order]
+    states = np.empty_like(sorted_states)
+    states[input_order] = sorted_states
+    return points, states
+
+
+def rasterize(
+    points: np.ndarray,
+    states: np.ndarray,
+    grid: np.ndarray,
+    cell_size_m: float,
+) -> tuple[np.ndarray, np.ndarray]:
+    minimum_ix = int(np.min(grid[:, 0]))
+    maximum_ix = int(np.max(grid[:, 0]))
+    minimum_iy = int(np.min(grid[:, 1]))
+    maximum_iy = int(np.max(grid[:, 1]))
+    lookup = np.full(
+        (maximum_ix - minimum_ix + 1, maximum_iy - minimum_iy + 1), -1, dtype=np.int32
+    )
+    lookup[
+        grid[:, 0].astype(np.int32) - minimum_ix,
+        grid[:, 1].astype(np.int32) - minimum_iy,
+    ] = np.arange(grid.shape[0], dtype=np.int32)
+    cell_xy = np.floor(points[:, :2] / cell_size_m).astype(np.int32)
+    inside = (
+        (cell_xy[:, 0] >= minimum_ix)
+        & (cell_xy[:, 0] <= maximum_ix)
+        & (cell_xy[:, 1] >= minimum_iy)
+        & (cell_xy[:, 1] <= maximum_iy)
+    )
+    point_indices = np.flatnonzero(inside)
+    cell_indices = lookup[
+        cell_xy[inside, 0] - minimum_ix, cell_xy[inside, 1] - minimum_iy
+    ]
+    valid = cell_indices >= 0
+    point_indices = point_indices[valid]
+    cell_indices = cell_indices[valid]
+    cell_states = np.zeros(grid.shape[0], dtype=np.uint8)
+    selected_states = states[point_indices]
+    ground_cells = np.zeros(grid.shape[0], dtype=np.uint8)
+    rejected_cells = np.zeros(grid.shape[0], dtype=np.uint8)
+    nonground_cells = np.zeros(grid.shape[0], dtype=np.uint8)
+    np.maximum.at(ground_cells, cell_indices, (selected_states == 1).astype(np.uint8))
+    np.maximum.at(rejected_cells, cell_indices, (selected_states == 3).astype(np.uint8))
+    np.maximum.at(nonground_cells, cell_indices, (selected_states == 2).astype(np.uint8))
+    cell_states[ground_cells > 0] = 1
+    cell_states[rejected_cells > 0] = 3
+    cell_states[nonground_cells > 0] = 2
+    minimum_z = np.full(grid.shape[0], np.inf, dtype=np.float32)
+    maximum_z = np.full(grid.shape[0], -np.inf, dtype=np.float32)
+    np.minimum.at(minimum_z, cell_indices, points[point_indices, 2])
+    np.maximum.at(maximum_z, cell_indices, points[point_indices, 2])
+    z_bounds = np.column_stack((minimum_z, maximum_z)).astype(np.float32, copy=False)
+    z_bounds[~np.isfinite(z_bounds)] = np.nan
+    return cell_states, z_bounds
+
+
+def percentile(values: np.ndarray, value: float) -> float:
+    return float(np.percentile(values.astype(np.float64), value)) if values.size else 0.0
+
+
+def build(run_root: Path, config_path: Path, output_root: Path) -> dict[str, object]:
+    if output_root.exists():
+        raise FullShadowError("full-shadow evidence output already exists")
+    config = json.loads(config_path.read_text(encoding="utf-8"))
+    if (
+        config.get("schema_version") != "missioncore.m49-tgs-full-shadow-profile/v1"
+        or config.get("invariants", {}).get("aos_allowed") is not False
+        or config.get("invariants", {}).get("gpu_allowed") is not False
+        or config.get("invariants", {}).get("missing_lidar_means_unobserved") is not True
+    ):
+        raise FullShadowError("full-shadow profile changed")
+    manifest_path = run_root / "inputs" / "input-manifest.json"
+    manifest = json.loads(manifest_path.read_text(encoding="utf-8"))
+    records = manifest.get("records", [])
+    if (
+        manifest.get("schema_version") != "missioncore.m49-tgs-full-shadow-input/v1"
+        or manifest.get("source_pack_sha256") != config["source"]["source_pack_sha256"]
+        or manifest.get("config_sha256") != sha256_file(config_path)
+        or manifest.get("future_frames_used") is not False
+        or len(records) != 4489
+        or sum(bool(row["sample_available"]) for row in records) != 3928
+    ):
+        raise FullShadowError("full-shadow input manifest changed")
+    with (run_root / "tgs-full-timing.tsv").open("r", encoding="utf-8", newline="") as stream:
+        timing_rows = list(csv.DictReader(stream, delimiter="\t"))
+    if len(timing_rows) != 4489:
+        raise FullShadowError("full-shadow timing frame accounting changed")
+
+    cell_size = float(config["costmap"]["cell_size_m"])
+    radius = float(config["costmap"]["radius_m"])
+    grid = costmap_grid(radius, cell_size)
+    output_root.mkdir(parents=True)
+    np.save(output_root / "costmap-cell-indices-xy.npy", grid[:, :2].astype(np.int32))
+    np.save(output_root / "costmap-cell-centers-xy-m.npy", grid[:, 2:].astype(np.float32))
+    states_out = np.lib.format.open_memmap(
+        output_root / "costmap-states.npy", mode="w+", dtype=np.uint8, shape=(4489, grid.shape[0])
+    )
+    z_out = np.lib.format.open_memmap(
+        output_root / "costmap-z-bounds-m.npy",
+        mode="w+",
+        dtype=np.float32,
+        shape=(4489, grid.shape[0], 2),
+    )
+    z_out[:] = np.nan
+    summaries: list[dict[str, object]] = []
+    eligible_total = ground_total = nonground_total = rejected_total = 0
+    available_seen = 0
+    for frame_index, (record, timing) in enumerate(zip(records, timing_rows, strict=True)):
+        if int(timing["timeline_frame_index"]) != frame_index:
+            raise FullShadowError("full-shadow timing order changed")
+        available = bool(record["sample_available"])
+        if not available:
+            if int(timing["sample_available"]) != 0:
+                raise FullShadowError("missing LiDAR frame was processed")
+            states_out[frame_index] = 0
+            summaries.append(
+                {
+                    "timeline_frame_index": frame_index,
+                    "source_frame_index": int(record["source_frame_index"]),
+                    "session_seconds": float(record["session_seconds"]),
+                    "sample_available": False,
+                    "eligible_point_count": 0,
+                    "ground_point_count": 0,
+                    "nonground_point_count": 0,
+                    "rejected_point_count": 0,
+                    "occupied_cell_count": 0,
+                }
+            )
+            continue
+        available_seen += 1
+        native_path = run_root / "inputs" / str(record["relative_path"])
+        if sha256_file(native_path) != record["sha256"]:
+            raise FullShadowError("sealed gravity-aligned full-shadow input changed")
+        output = run_root / "outputs" / "causal_rolling_1s"
+        ground = load_xyzi(output / f"{frame_index}_ground.bin")
+        nonground = load_xyzi(output / f"{frame_index}_nonground.bin")
+        points, point_states = classify_exact_input(load_xyzi(native_path), ground, nonground)
+        cell_states, z_bounds = rasterize(points, point_states, grid, cell_size)
+        states_out[frame_index] = cell_states
+        z_out[frame_index] = z_bounds
+        ground_count = int(np.count_nonzero(point_states == 1))
+        nonground_count = int(np.count_nonzero(point_states == 2))
+        rejected_count = int(np.count_nonzero(point_states == 3))
+        eligible_total += int(points.shape[0])
+        ground_total += ground_count
+        nonground_total += nonground_count
+        rejected_total += rejected_count
+        summaries.append(
+            {
+                "timeline_frame_index": frame_index,
+                "source_frame_index": int(record["source_frame_index"]),
+                "session_seconds": float(record["session_seconds"]),
+                "sample_available": True,
+                "eligible_point_count": int(points.shape[0]),
+                "ground_point_count": ground_count,
+                "nonground_point_count": nonground_count,
+                "rejected_point_count": rejected_count,
+                "occupied_cell_count": int(np.count_nonzero(cell_states == 2)),
+            }
+        )
+    states_out.flush()
+    z_out.flush()
+    if available_seen != 3928 or eligible_total != ground_total + nonground_total + rejected_total:
+        raise FullShadowError("full-shadow eligible point accounting failed")
+    frames_path = output_root / "frames.ndjson"
+    frames_path.write_text(
+        "".join(json.dumps(row, sort_keys=True) + "\n" for row in summaries), encoding="utf-8"
+    )
+
+    available_timings = [row for row in timing_rows if int(row["sample_available"]) == 1]
+    tgs_ms = np.asarray([float(row["tgs_ms"]) for row in available_timings])
+    completion_ms = np.asarray([float(row["completion_age_ms"]) for row in timing_rows])
+    capacity_drops = sum(int(row["capacity_drop"]) for row in timing_rows)
+    duration = float(records[-1]["session_seconds"]) - float(records[0]["session_seconds"])
+    effective_fps = (len(records) - 1) / duration
+    thresholds = config["acceptance"]
+    acceptance = {
+        "minimum_effective_timeline_fps": effective_fps >= float(thresholds["minimum_effective_timeline_fps"]),
+        "candidate_stage_p95_ms": percentile(tgs_ms, 95) <= float(thresholds["candidate_stage_p95_ms_max"]),
+        "candidate_stage_p99_ms": percentile(tgs_ms, 99) <= float(thresholds["candidate_stage_p99_ms_max"]),
+        "completion_age_p99_ms": percentile(completion_ms, 99) <= float(thresholds["completion_age_p99_ms_max"]),
+        "capacity_drop_count": capacity_drops <= int(thresholds["capacity_drop_count_max"]),
+        "all_frames_accounted": len(summaries) == 4489 and available_seen == 3928,
+        "all_eligible_points_accounted": eligible_total == ground_total + nonground_total + rejected_total,
+    }
+    files = {}
+    for path in sorted(output_root.iterdir()):
+        if path.is_file() and path.name != "result.json":
+            files[path.name] = {"bytes": path.stat().st_size, "sha256": sha256_file(path)}
+    result = {
+        "schema_version": "missioncore.m49-tgs-full-shadow-result/v1",
+        "status": "passed" if all(acceptance.values()) else "failed",
+        "config_sha256": sha256_file(config_path),
+        "source_pack_sha256": manifest["source_pack_sha256"],
+        "input_manifest_sha256": sha256_file(manifest_path),
+        "timeline": {
+            "frame_count": 4489,
+            "available_lidar_frame_count": 3928,
+            "missing_lidar_frame_count": 561,
+            "duration_seconds": duration,
+            "effective_fps": effective_fps,
+        },
+        "costmap": {
+            "coordinate_frame": "map-gravity-local",
+            "cell_size_m": cell_size,
+            "radius_m": radius,
+            "cell_count": int(grid.shape[0]),
+        },
+        "point_accounting": {
+            "eligible": eligible_total,
+            "ground": ground_total,
+            "nonground": nonground_total,
+            "rejected": rejected_total,
+            "unaccounted": eligible_total - ground_total - nonground_total - rejected_total,
+        },
+        "performance": {
+            "candidate_tgs_ms": {
+                "p50": percentile(tgs_ms, 50),
+                "p95": percentile(tgs_ms, 95),
+                "p99": percentile(tgs_ms, 99),
+                "max": float(np.max(tgs_ms)),
+            },
+            "completion_age_ms": {
+                "p50": percentile(completion_ms, 50),
+                "p95": percentile(completion_ms, 95),
+                "p99": percentile(completion_ms, 99),
+                "max": float(np.max(completion_ms)),
+            },
+            "capacity_drop_count": capacity_drops,
+        },
+        "acceptance": acceptance,
+        "files": files,
+        "authority": {
+            "visual_quality_accepted": False,
+            "traversability_accepted": False,
+            "realtime_accepted": bool(all(acceptance.values())),
+            "integrated_graph_performance_accepted": False,
+            "navigation_or_actuation_allowed": False,
+        },
+    }
+    (output_root / "result.json").write_text(
+        json.dumps(result, indent=2, sort_keys=True) + "\n", encoding="utf-8"
+    )
+    return result
+
+
+def main() -> int:
+    parser = argparse.ArgumentParser()
+    parser.add_argument("--run-root", type=Path, required=True)
+    parser.add_argument("--config", type=Path, required=True)
+    parser.add_argument("--output-root", type=Path, required=True)
+    arguments = parser.parse_args()
+    result = build(arguments.run_root, arguments.config, arguments.output_root)
+    print(json.dumps({"status": result["status"], **result["performance"]}, sort_keys=True))
+    return 0
+
+
+if __name__ == "__main__":
+    raise SystemExit(main())