{ "sensors": [ { "sensor_id": "cam-1", "sensor_type": "camera", "source_identity": "amr-1/cam-1", "public_key_b64": "9XEu75BK/OcT1rEyAgiArCJNzWXM4i45RLa7jUZNkVM=", "system_id": "amr-1", "tenant": "tenant-a", "digest": "646529850884029b11053e02a34f9c6d818a3cdec1a30c3653f7d04805815334" }, { "sensor_id": "lidar-1", "sensor_type": "lidar", "source_identity": "amr-1/lidar-1", "public_key_b64": "wxRjsm0biy454KxNF46wApx8SU3HFB5LtYomIqblsjQ=", "system_id": "amr-1", "tenant": "tenant-a", "digest": "e59012c97b85102c1e37909fbc3b7f3f16a7bad551e872766aca31c36d65797d" }, { "sensor_id": "gnss-1", "sensor_type": "gnss", "source_identity": "amr-1/gnss-1", "public_key_b64": "LiyvgJ3r8Xa0DBka71dv8uCYmwazD0QFzO4MlggL5BA=", "system_id": "amr-1", "tenant": "tenant-a", "digest": "f783921374f52e8645d445c3b25d20ca87c9b797ac88e81372f79923df13e821" }, { "sensor_id": "imu-1", "sensor_type": "imu", "source_identity": "amr-1/imu-1", "public_key_b64": "AxzMzAnEtgVs15Bq7Xg+TTIKjTzB+mJknuCAIZBpH6c=", "system_id": "amr-1", "tenant": "tenant-a", "digest": "eea5904b614913ef21ec51269af6ce6e0e96ef68de52cdd8fde4470f80e47b5e" }, { "sensor_id": "map-1", "sensor_type": "map", "source_identity": "amr-1/map-1", "public_key_b64": "BKWcPIqV0ycBcAS7lXdTtJKz7odTwX3pi+hz0u3BqLU=", "system_id": "amr-1", "tenant": "tenant-a", "digest": "b6263a2db10ee3d757e62ddeadceaab70d2cb067ae976d2f4d9dd677a8806a96" } ], "accepted_examples": [ { "observation_id": "obs:gnss-1:amr-1:1000.0:579a69", "sensor_id": "gnss-1", "source_identity": "amr-1/gnss-1", "sensor_type": "gnss", "timestamp": 1000.0, "location": { "x": 10.0, "y": 10.0, "z": 0.0 }, "coordinate_frame": "CARTESIAN", "provenance": "adapter:gnss-1", "confidence": 0.9, "uncertainty": 0.1, "integrity_state": "OK", "content": { "kind": "agent", "classification": "robot", "dynamic": true }, "entity_id": "amr-1", "evidence_class": "OBSERVED", "digest": "0771ad96cf9457b005188b1e9dacc753bec46dc4504bb8eae73621e38f8cbfbf", "signature_b64": "ri9GWOmF2TJgi+q17ASMn+cHrcZeJhfMV5UXGTQXWGDNBSi4jMOtGjIQGWEpZkSHWT71MbDGC2zYgQtlcx1hBg==" }, { "observation_id": "obs:imu-1:amr-1:1000.0:988ecc", "sensor_id": "imu-1", "source_identity": "amr-1/imu-1", "sensor_type": "imu", "timestamp": 1000.0, "location": { "x": 10.0, "y": 10.0, "z": 0.0 }, "coordinate_frame": "CARTESIAN", "provenance": "adapter:imu-1", "confidence": 0.9, "uncertainty": 0.1, "integrity_state": "OK", "content": { "kind": "agent", "classification": "robot", "dynamic": true }, "entity_id": "amr-1", "evidence_class": "OBSERVED", "digest": "73f30ef5d3afdd071b5c70a047368e6960d70098464f889ff0372a41ad7e3d39", "signature_b64": "QRwsMut2HDp8ENRMGicGuiVgCCb4LJhkJBaeLaleZlA/qLnIUjk7aSGXDWVH/wpS5kdlKOvCEphXwb/EhYcbCA==" }, { "observation_id": "obs:cam-1:box-7:1000.0:2a45f3", "sensor_id": "cam-1", "source_identity": "amr-1/cam-1", "sensor_type": "camera", "timestamp": 1000.0, "location": { "x": 50.0, "y": 10.0, "z": 0.0 }, "coordinate_frame": "CARTESIAN", "provenance": "adapter:cam-1", "confidence": 0.9, "uncertainty": 0.1, "integrity_state": "OK", "content": { "present": true, "classification": "box", "kind": "obstacle" }, "entity_id": "box-7", "evidence_class": "OBSERVED", "digest": "8bc81bff2a57ca049846840bf36bea783debc24e2750db3e2d919f6b60307b50", "signature_b64": "ELmRtjs/l60T19vmPEz3604cG3iRuQV+f9Twk5CEubRknnYlIp3WieJWR0IEh4cwGLM35Yil6SmQCFjQFa0fDA==" }, { "observation_id": "obs:lidar-1:box-7:1000.0:9f8e6d", "sensor_id": "lidar-1", "source_identity": "amr-1/lidar-1", "sensor_type": "lidar", "timestamp": 1000.0, "location": { "x": 50.0, "y": 10.0, "z": 0.0 }, "coordinate_frame": "CARTESIAN", "provenance": "adapter:lidar-1", "confidence": 0.9, "uncertainty": 0.1, "integrity_state": "OK", "content": { "present": true, "classification": "box", "kind": "obstacle" }, "entity_id": "box-7", "evidence_class": "OBSERVED", "digest": "352d9703d6bb0bc0770b65ceb5f7df65b23a53a5fc31402354b741464788d44b", "signature_b64": "QXNn5Ka588nQT85Pvo4tDGufBgSzceIUSDxMIqq5b6YNoaMsBqldYpBYQFSAyYDR8I2nvp3xqsjEWM3CLGOoCg==" }, { "observation_id": "obs:cam-1:ped-1:1000.0:1884c9", "sensor_id": "cam-1", "source_identity": "amr-1/cam-1", "sensor_type": "camera", "timestamp": 1000.0, "location": { "x": 25.0, "y": 14.0, "z": 0.0 }, "coordinate_frame": "CARTESIAN", "provenance": "adapter:cam-1", "confidence": 0.9, "uncertainty": 0.1, "integrity_state": "OK", "content": { "present": true, "classification": "person", "kind": "agent", "dynamic": true }, "entity_id": "ped-1", "evidence_class": "OBSERVED", "digest": "7c742ba4691d54f7a512b8b304cc70bb305da7f59793d4ef3f54e0b679ea0b12", "signature_b64": "xPnSvcrWhufoCn4H7C04Jyx1iSCAau689UvHyomENJifbIBr2gfUjjAlfmWfSCtlA5G8sY5GPOFUISZTz1yZAw==" }, { "observation_id": "obs:lidar-1:ped-1:1000.0:43655c", "sensor_id": "lidar-1", "source_identity": "amr-1/lidar-1", "sensor_type": "lidar", "timestamp": 1000.0, "location": { "x": 25.0, "y": 14.0, "z": 0.0 }, "coordinate_frame": "CARTESIAN", "provenance": "adapter:lidar-1", "confidence": 0.9, "uncertainty": 0.1, "integrity_state": "OK", "content": { "present": true, "classification": "person", "kind": "agent", "dynamic": true }, "entity_id": "ped-1", "evidence_class": "OBSERVED", "digest": "9c1b0b48cd84f1e016653927e0079d727c9261868ada6edb869f336e14f5a6f6", "signature_b64": "Wu6cSbbMNN7ne+nNJFgzpxtgjYSSBYXQnHh4nDjtqPkbMtn+P/s+fk0LYAZNRon5w2jO/x5OUkMyInG9Q4m0BA==" }, { "observation_id": "obs:gnss-1:amr-1:1001.1999999999999:01a6b8", "sensor_id": "gnss-1", "source_identity": "amr-1/gnss-1", "sensor_type": "gnss", "timestamp": 1001.1999999999999, "location": { "x": 11.8, "y": 10.0, "z": 0.0 }, "coordinate_frame": "CARTESIAN", "provenance": "adapter:gnss-1", "confidence": 0.9, "uncertainty": 0.1, "integrity_state": "OK", "content": { "kind": "agent", "classification": "robot", "dynamic": true }, "entity_id": "amr-1", "evidence_class": "OBSERVED", "digest": "5c9cc2a2798cc26d59ab9c39a977ce42715b33edb033c57a0f2489d9d42a0c11", "signature_b64": "qpZOTqoVj/yRxNaxHaBxv/eD5S5H3sw1d4NjZtzUdxpoyrO0kAgQThN7P+xYFFA1vUXlwcYbKzhFmoXYg5qzCg==" }, { "observation_id": "obs:imu-1:amr-1:1001.1999999999999:79e832", "sensor_id": "imu-1", "source_identity": "amr-1/imu-1", "sensor_type": "imu", "timestamp": 1001.1999999999999, "location": { "x": 11.8, "y": 10.0, "z": 0.0 }, "coordinate_frame": "CARTESIAN", "provenance": "adapter:imu-1", "confidence": 0.9, "uncertainty": 0.1, "integrity_state": "OK", "content": { "kind": "agent", "classification": "robot", "dynamic": true }, "entity_id": "amr-1", "evidence_class": "OBSERVED", "digest": "56f429b19c3c61449b1cadeab11cded185b2dee0495d11eb4b4902ca39355b53", "signature_b64": "VjQr5cA+QAI1Dtm3BfoneVtAFTUf6v/Zcub7RD1uxV3Z/+q3C9reercLU0L7S+QSe4u3MhS2E22S/xoRu4TKBA==" } ], "admission": { "accepted": true, "reasons": [], "epistemic_status": "ATTESTED", "e12_envelope": { "observation_id": "obs:cam-1:box-7:1000.05:86596f", "source_id": "cam-1", "source_type": "sensor", "source_provenance": "adapter:cam-1", "content_digest": "d0b05329caf3f9d2cecbc107d33106a65cc38686e577f1b85e8cedc21f4a5bda", "content_type": "application/json", "observed_at": 1000.05, "received_at": 1000.05, "valid_from": 0.0, "valid_until": 1005.05, "origin": "amr-1/cam-1", "issuer": "cam-1", "chain_of_custody": [ "cam-1", "cain:e15:sensor-registry" ], "integrity_status": "VERIFIED", "authenticity_status": "SIGNATURE_VERIFIED", "freshness_status": "UNKNOWN", "epistemic_status": "ATTESTED", "confidence": 0.9, "corroboration_state": "UNKNOWN", "conflict_state": "NONE", "trust_domain": "", "authorization_scope": [], "sensitivity": "UNKNOWN", "simulation_status": "REAL", "evidence_class": "OBSERVATION", "parent_observation": "", "supersedes": "", "digest": "0cf2a24af75403cf8e9e403f4faf06fe461c5986757a55688a4bde981336af5b", "authority": "NONE" }, "e12_digest": "0cf2a24af75403cf8e9e403f4faf06fe461c5986757a55688a4bde981336af5b", "is_truth": false, "authority": "NONE" }, "refused": [ { "case": "spoofed signature", "observation": { "observation_id": "obs:lidar-1:box-7:1000.05:19fad3", "sensor_id": "lidar-1", "source_identity": "amr-1/lidar-1", "sensor_type": "lidar", "timestamp": 1000.05, "location": { "x": 90.0, "y": 90.0, "z": 0.0 }, "coordinate_frame": "CARTESIAN", "provenance": "adapter:lidar-1", "confidence": 0.9, "uncertainty": 0.1, "integrity_state": "OK", "content": {}, "entity_id": "box-7", "evidence_class": "OBSERVED", "digest": "b0da84a292b21166e938cb15ea591cce23127de4065a23a882645057c0710179", "signature_b64": "iJqSPsDWzD04etNGp0UN8PgVynwCj5p8MYu5tR22gLfZT5ZRK+pUr3288f1iALXI6/BMVgBn9z89y6+3vOWVAA==" }, "accepted": false, "reasons": [ "SENSOR_SIGNATURE_INVALID" ] }, { "case": "future timestamp", "observation": { "observation_id": "obs:cam-1:box-7:1030.05:61ac4e", "sensor_id": "cam-1", "source_identity": "amr-1/cam-1", "sensor_type": "camera", "timestamp": 1030.05, "location": { "x": 50.0, "y": 10.0, "z": 0.0 }, "coordinate_frame": "CARTESIAN", "provenance": "adapter:cam-1", "confidence": 0.9, "uncertainty": 0.1, "integrity_state": "OK", "content": {}, "entity_id": "box-7", "evidence_class": "OBSERVED", "digest": "22c020bcef88513e81388791a0e3f5d1bbbdfc5bfd2bdb02a801ae355dd92851", "signature_b64": "73EkKxMKXRsjlcv37aOdi/ih4fbl3M6IXLTHk5ffRtptsMU7OHVhDwyEr7hS01gjnCiYgdT6+oRtwmu0MPSiDg==" }, "accepted": false, "reasons": [ "TIMESTAMP_MANIPULATION" ] }, { "case": "stale", "observation": { "observation_id": "obs:cam-1:box-7:980.05:3f9068", "sensor_id": "cam-1", "source_identity": "amr-1/cam-1", "sensor_type": "camera", "timestamp": 980.05, "location": { "x": 50.0, "y": 10.0, "z": 0.0 }, "coordinate_frame": "CARTESIAN", "provenance": "adapter:cam-1", "confidence": 0.9, "uncertainty": 0.1, "integrity_state": "OK", "content": {}, "entity_id": "box-7", "evidence_class": "OBSERVED", "digest": "c251d9298b891f1448bcedaac8c101256fd7856d57b343762223309db657f341", "signature_b64": "rOZjDvKDDFVUvZXiHa5hwplxmN36MHuWUUtXLDXTzVWCzme+wefw1xStFrixbg0as7FcRAZ0e8YBvPIMZCWLDw==" }, "accepted": false, "reasons": [ "STALE_OBSERVATION", "TEMPORAL_ORDER_VIOLATION" ] }, { "case": "unregistered sensor", "observation": { "observation_id": "obs:rogue-radar:box-7:1000.05:f980aa", "sensor_id": "rogue-radar", "source_identity": "amr-1/rogue-radar", "sensor_type": "other", "timestamp": 1000.05, "location": { "x": 50.0, "y": 10.0, "z": 0.0 }, "coordinate_frame": "CARTESIAN", "provenance": "adapter:rogue-radar", "confidence": 0.9, "uncertainty": 0.1, "integrity_state": "OK", "content": {}, "entity_id": "box-7", "evidence_class": "OBSERVED", "digest": "c4bdac448629c2c8e271cb1de60e42a49de110617c22632760fed2d8f54c8175", "signature_b64": "G2cineTlkc6BLxqm217IFSLQzi61bK3Zes2mAk4DZrEDrILkCXUeXqLZHB7dL7jrnIPAYyF1amRWS5pc+sMCDg==" }, "accepted": false, "reasons": [ "SENSOR_UNREGISTERED" ] }, { "case": "replayed observation", "observation": { "observation_id": "obs:gnss-1:amr-1:1000.0:579a69", "sensor_id": "gnss-1", "source_identity": "amr-1/gnss-1", "sensor_type": "gnss", "timestamp": 1000.0, "location": { "x": 10.0, "y": 10.0, "z": 0.0 }, "coordinate_frame": "CARTESIAN", "provenance": "adapter:gnss-1", "confidence": 0.9, "uncertainty": 0.1, "integrity_state": "OK", "content": { "kind": "agent", "classification": "robot", "dynamic": true }, "entity_id": "amr-1", "evidence_class": "OBSERVED", "digest": "0771ad96cf9457b005188b1e9dacc753bec46dc4504bb8eae73621e38f8cbfbf", "signature_b64": "ri9GWOmF2TJgi+q17ASMn+cHrcZeJhfMV5UXGTQXWGDNBSi4jMOtGjIQGWEpZkSHWT71MbDGC2zYgQtlcx1hBg==" }, "accepted": false, "reasons": [ "OBSERVATION_REPLAY" ] } ], "consistency": { "consistent": { "schema": "CAIN42/E15-CROSS-MODAL-CONSISTENCY/v1", "state": "CONSISTENT", "critical": false, "can_authorize": true, "conflicts": [], "reasons": [], "evaluated_at": 1000.05, "digest": "a752c06df81c3f4161e183ef8088457e787307b8882d6b5843e1618d72964757", "authority": "NONE" }, "inconsistent": { "schema": "CAIN42/E15-CROSS-MODAL-CONSISTENCY/v1", "state": "INCONSISTENT", "critical": true, "can_authorize": false, "conflicts": [ { "entity": "box-7", "kind": "PRESENCE_CONFLICT", "critical": true, "detail": "camera says present=True, lidar says present=False" } ], "reasons": [ "camera says present=True, lidar says present=False" ], "evaluated_at": 1000.05, "digest": "866d86a46cf7d56691f26d1c756b0f33573f1018ed5282a011cdbf3c2a829f85", "authority": "NONE" }, "sensor_dropout": { "schema": "CAIN42/E15-CROSS-MODAL-CONSISTENCY/v1", "state": "DEGRADED", "critical": false, "can_authorize": false, "conflicts": [], "reasons": [ "SENSOR_DROPOUT:vision", "SENSOR_DROPOUT:range" ], "evaluated_at": 1000.05, "digest": "472b61d6ac02cb71a04cff9386f560266975a5d540073e89b1cca65cc553cd03", "authority": "NONE" } }, "world_model_output": { "output_id": "wmo:wm-ext-1:95072cc09ef4", "model_id": "wm-ext-1", "model_version": "1.0.0", "model_digest": "b089a3018b12b581ee344c271ebf8c8d2f3b35c37a8e897e09502c2a7d916b13", "config_digest": "60e551cd2a965066850b29d4fccb5ed6989bf03604edf7841f6dc3853dffbcf7", "world_state_digest": "90fae9c23160951329ef1daf0da00ccb433a13020408a9eeb903bf50159e5344", "scenario_digest": "warehouse-nominal", "timestamp": 1000.05, "predictions": { "ped-1": "78a6de6a203184344efa825a2e2ddcba751d5b392823e8f299def235098daf6f" }, "uncertainty": 0.3, "claims_digest": "6ae05fd4951fea47f961bf3b79fb7319374a7f0f428c0c94be4e0ad9eaaf478c", "evidence_class": "PREDICTED", "digest": "61e72b3c634346c3c0689c828f1cf36a4b02eb470aeeb2293ed5d502059d22dd", "binding_signature_b64": "LuIDM+KdLfKkSw8xEEOESK50Ptxqr2TNSkIzHDro7CZHLVzliSNPOrO+5Td5Xo9Ad/8N1LOwX3/7cSWZo+SDDQ==", "authority": "NONE", "registry_public_key_b64": "u5LHOkwx+MZi38tWL5gj1fc0n3WHmCJV639JGPPj5ao=", "model": { "model_id": "wm-ext-1", "model_version": "1.0.0", "model_digest": "b089a3018b12b581ee344c271ebf8c8d2f3b35c37a8e897e09502c2a7d916b13", "config_digest": "60e551cd2a965066850b29d4fccb5ed6989bf03604edf7841f6dc3853dffbcf7", "artifact_digest": "", "provenance": "vendor:external", "model_type": "external", "evaluation_evidence": "", "deployment_state": "EVALUATION", "uncertainty": 1.0, "digest": "0166175661d5a12903d9b870eb84de7ecd263f2bdb6cbff2ac67345f72e55f2e", "authority": "NONE" }, "prediction_states": { "ped-1": { "entity_id": "ped-1", "timestamp": 1005.05, "position": { "x": 25.0, "y": 14.0, "z": 0.0 }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "acceleration": { "x": 0.0, "y": 0.0, "z": 0.0 }, "orientation": [ 0.0, 0.0, 0.0 ], "uncertainty": 1.0, "evidence_class": "PREDICTED", "frame": "CARTESIAN", "provenance": [], "source_id": "", "kind": "agent", "classification": "person", "dynamic": true, "digest": "78a6de6a203184344efa825a2e2ddcba751d5b392823e8f299def235098daf6f" } }, "as_evidence": { "output_id": "wmo:wm-ext-1:95072cc09ef4", "evidence_class": "PREDICTED", "is_reality": false, "authority": "NONE", "ignored_claims": [ "authorize" ] } } }