# 运控标定现场数据模板。
# 该文件只定义运控评估算法的数据输入和落盘边界，真实动作执行由车端 agent 完成。

csv_contract_version: 1
session_id: replace_with_session_id
site_id: replace_with_site_or_line_id
vehicle_id: replace_with_real_vehicle_id
session_dir: /data/agv_calib/replace_with_site_or_line_id/session_xxx
dataset_index_path: /data/agv_calib/replace_with_site_or_line_id/session_xxx/dataset_index.yaml

chassis_type: ackermann
control_axis: combined
controller_algorithm: mpc
control_role: path_tracking_outer_loop

# 这些文件会写入 dataset_index.yaml 的 data_inputs.control。
files:
  control_evaluation_data_file: control/control_eval.csv
  reference_signal_file: control/reference_signal.csv
  chassis_response_file: control/chassis_response.csv
  truth_trajectory_file: external/truth_trajectory.csv
  diagnostics_file: control/control_diagnostics.json

capture:
  control_telemetry_topic: /control/telemetry
  chassis_telemetry_topic: /chassis/telemetry
  external_pose_topic: /workshop/external_localization/vehicle/pose

validation:
  min_control_evaluation_samples: 50
  min_reference_signal_samples: 50
  min_chassis_response_samples: 50
  min_truth_trajectory_samples: 50
  max_time_gap_ms: 200.0

synthetic:
  task_type: trajectory_tracking
  duration_sec: 6.0
  sample_period_ms: 50.0
  target_speed_ms: 0.2
  lateral_error_m: 0.015
  heading_error_rad: 0.01
  speed_error_ms: 0.02
