{
  "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
  }
}