109 lines
3.0 KiB
JSON
109 lines
3.0 KiB
JSON
{
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"schema_version": "missioncore.vegetation-mission-policy/v1",
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"profile_id": "lab-v1-vegetation-mission-policy/v1",
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"status": "planning-shadow-only-unqualified",
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"vehicle_profile": {
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"path": "config/perception/m49-physical-safety-shadow-v0.json",
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"profile_id": "m49-mission-core-rover-physical-safety-shadow/v0"
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},
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"actions": [
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"ALLOW",
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"HIGH_COST",
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"NO_GO"
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],
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"precedence": [
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"hard_safety_interlock",
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"explicit_mission_rule",
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"selected_preset_default"
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],
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"material_classes": [
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"hard_surface",
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"bare_soil",
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"grass",
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"fern",
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"herbaceous_vegetation",
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"cultivated_vegetation",
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"woody_shrub",
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"tree_or_trunk",
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"vegetation_unknown"
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],
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"mission_overridable_materials": [
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"grass",
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"fern",
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"herbaceous_vegetation",
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"cultivated_vegetation"
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],
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"presets": {
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"urban": {
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"hard_surface": "ALLOW",
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"bare_soil": "HIGH_COST",
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"grass": "NO_GO",
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"fern": "NO_GO",
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"herbaceous_vegetation": "NO_GO",
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"cultivated_vegetation": "NO_GO",
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"woody_shrub": "NO_GO",
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"tree_or_trunk": "NO_GO",
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"vegetation_unknown": "NO_GO"
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},
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"rural": {
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"hard_surface": "ALLOW",
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"bare_soil": "ALLOW",
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"grass": "HIGH_COST",
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"fern": "HIGH_COST",
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"herbaceous_vegetation": "HIGH_COST",
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"cultivated_vegetation": "NO_GO",
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"woody_shrub": "NO_GO",
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"tree_or_trunk": "NO_GO",
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"vegetation_unknown": "NO_GO"
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},
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"offroad": {
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"hard_surface": "ALLOW",
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"bare_soil": "ALLOW",
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"grass": "HIGH_COST",
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"fern": "HIGH_COST",
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"herbaceous_vegetation": "HIGH_COST",
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"cultivated_vegetation": "NO_GO",
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"woody_shrub": "NO_GO",
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"tree_or_trunk": "NO_GO",
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"vegetation_unknown": "NO_GO"
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}
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},
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"evidence_policy": {
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"policy_eligible_states": [
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"SUPPORTED_GROUND",
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"VEGETATION_POTENTIALLY_TRAVERSABLE"
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],
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"force_no_go_states": [
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"UNOBSERVED",
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"NEGATIVE_OR_UNSUPPORTED",
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"RIGID_OR_UNKNOWN_OBSTACLE",
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"VEGETATION_UNKNOWN",
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"VEGETATION_WITH_RIGID_GEOMETRY"
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],
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"force_no_go_materials": [
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"woody_shrub",
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"tree_or_trunk",
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"vegetation_unknown"
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],
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"missing_material_is": "vegetation_unknown",
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"missing_evidence_is": "UNOBSERVED",
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"camera_semantics_can_clear_rigid_geometry": false,
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"mission_rule_can_override_hard_safety_interlock": false
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},
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"mission_configuration_contract": {
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"preset_is_required": true,
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"explicit_rules_are_sparse_overrides": true,
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"preset_may_be_suggested_automatically": true,
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"automatic_preset_switch_requires_operator_opt_in": true,
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"automatic_switch_may_weaken_explicit_mission_rule": false,
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"operator_must_review_effective_rules_before_start": true
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},
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"authority": {
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"perception_selects_mission_action": false,
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"preset_grants_actuation": false,
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"navigation_accepted": false,
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"safety_accepted": false,
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"actuation_accepted": false
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}
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}
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