{
  "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",
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    "travel_revision": "95dc2fbd66a343efd9060c45a5711b6307a950a4",
    "compatibility_decision_sha256": "ff0b27f469cccad258c53ae07cb04ad00e696d82b32021c4f1f38ba7fa39d66a",
    "input_coordinate_frame": "map-gravity-local-translation-only"
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  "tgs": {
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    "resolution_m": 8.0,
    "num_iterations": 3,
    "num_lowest_representative_points": 5,
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    "weight_threshold": 200.0,
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    "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",
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      "local_radius_m": 12.0
    }
  },
  "costmap": {
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    "cell_size_m": 0.45,
    "radius_m": 12.0,
    "state_priority": [
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    "GROUND_SUPPORT": 1,
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    "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
  }
}