{
  "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
  }
}