81 lines
3.0 KiB
JSON
81 lines
3.0 KiB
JSON
{
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"schema_version": "missioncore.m48-additive-low-step-occupancy-profile/v1",
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"profile_id": "m48r3-ravnoves00-additive-low-step/v1",
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"provider_id": "ravnoves00-additive-low-step-geometry/v1",
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"base_geometry": {
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"profile_id": "m4-ravnoves00-e29-e32-geometry/v1",
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"sha256": "cc666c9389a5e221957faddec89584709b66918d14abaf646f1832e001421999"
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},
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"source": {
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"source_id": "RAVNOVES00",
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"session_id": "20260720T065719Z_viewer_live",
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"frame_count": 4489,
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"point_count": 9207270,
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"local_surface_model_id": "k1-local-surface-23762244c8bdb97de26fb721ac957d7a00bc9a63571ac4cfa4be19c4effc7d55",
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"local_surface_sha256": "f57eb2485b6cef47f2a97a2d9ff1aa9fd9265fe1eb69cd5852d12f39e13b8bc6",
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"m48r2_result_id": "m48-static-occupancy-qualification-568024554cff011332ff19ca4739f70555a6232c0607dec2a71be6db408ea69a",
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"m48r2_cases_sha256": "249f58bf62973bfbcef8cd2f780013830fd4bf61ec342365a541963af96fa2ff"
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},
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"componentization": {
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"voxel_size_m": 0.45,
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"neighbor_radius_cells": 1,
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"minimum_points": 5,
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"sparse_persistence_minimum_points": 2,
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"sparse_persistence_window_frames": 6,
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"sparse_persistence_minimum_hits": 6,
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"sparse_persistence_maximum_range_m": 8.0,
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"minimum_voxels": 1,
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"local_radius_m": 10.0,
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"maximum_candidate_points_per_frame": 768,
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"maximum_cells_per_component": 256,
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"maximum_components_per_frame": 128,
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"exclude_baseline_occupied_points": true,
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"exclude_claimed_source_points": true
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},
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"separation_expectations": [
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{
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"anchor_id": "anchor-5e6e2a81e0667bdd9faf2a9e",
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"sequence": 1856,
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"expected_minimum_components": 2,
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"interpretation": "two thin posts remain independent occupied components"
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},
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{
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"anchor_id": "anchor-924a4623077fe5df18816b47",
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"sequence": 1856,
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"expected_minimum_components": 2,
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"interpretation": "two concrete hemispheres remain independent occupied components"
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}
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],
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"acceptance": {
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"expected_frames": 4489,
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"requested_source_rate_hz": 12.0,
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"minimum_effective_world_state_fps": 11.5,
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"maximum_world_state_completion_p95_ms": 60.0,
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"maximum_geometry_stage_p95_ms": 9.0,
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"maximum_geometry_stage_p99_ms": 16.0,
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"maximum_fps_regression_fraction_vs_native_baseline": 0.05,
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"maximum_world_state_p95_delta_ms_vs_native_baseline": 15.0,
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"maximum_additive_component_mean_growth_fraction": 1.0,
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"maximum_additive_cell_mean_growth_fraction": 1.0,
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"maximum_capacity_drop_count": 0,
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"minimum_critical_near_recall": 1.0,
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"minimum_canonical_engineering_recall": 1.0,
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"maximum_false_free_count": 0
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},
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"policy": {
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"absence_of_points_means_free": false,
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"absence_of_camera_detection_means_free": false,
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"additive_only": true,
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"semantic_class_used": false,
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"ray_clearing_used": false,
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"planner_authoritative_free_space_claimed": false
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},
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"authority": {
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"mode": "replay-simulated",
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"physical_live": false,
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"commands_enabled": false,
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"actuation_allowed": false,
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"navigation_or_safety_accepted": false
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}
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}
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