{
  "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"
  ]
}