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