Section 14Simulation Runtime
Sensor System requirements
Defines truth sampling, signal chains, timing, noise, degradation, delivery, and supported robotic sensor models.
Section relationships
| ID | Name | Priority | Requirement | Verification |
|---|---|---|---|---|
| SENSOR-001 | Sensor pipeline | MVP | Every sensor SHALL implement or explicitly bypass the stages truth, sampling, environmental interaction, calibration, noise, quantization, saturation, latency, dropout, and delivery. | Inspection |
| SENSOR-002 | Truth separation | MVP | Ideal truth and sensor-modeled delivered measurement SHALL be addressable as distinct channels with different access permissions. | Test |
| SENSOR-003 | Independent clock | MVP | Every sensor SHALL declare sample rate, phase, and integration or exposure interval where applicable. | Test |
| SENSOR-004 | Capture timestamp | MVP | Every measurement SHALL identify its capture time or capture interval. | Test |
| SENSOR-005 | Delivery timestamp | MVP | Every delivered measurement SHALL identify or permit derivation of its delivery time. | Test |
| SENSOR-006 | Sensor frame | MVP | Every spatial sensor output SHALL identify the frame in which its value is expressed. | Test |
| SENSOR-007 | Units and shape | MVP | Every sensor output SHALL declare units, scalar type, dimensions, and bounds where defined. | Inspection |
| SENSOR-008 | Calibration revision | MVP | A measurement SHALL identify the calibration revision used to produce it. | Test |
| SENSOR-009 | Noise model | MVP | A sensor SHALL support a documented seeded noise model or explicitly declare ideal output. | Analysis |
| SENSOR-010 | Bias and drift | MVP | Supported sensors SHALL be able to model constant bias and time-correlated drift. | Analysis |
| SENSOR-011 | Quantization | MVP | A sensor SHALL be able to quantize measurements to a configured resolution. | Test |
| SENSOR-012 | Saturation | MVP | A sensor SHALL be able to saturate measurements at configured operating limits. | Test |
| SENSOR-013 | Latency and jitter | MVP | A sensor SHALL support fixed or seeded latency and jitter distributions in virtual time. | Test |
| SENSOR-014 | Dropout | MVP | A sensor SHALL support deterministic or seeded measurement and packet dropout. | Test |
| SENSOR-015 | Misalignment | Beta | A sensor SHALL support calibrated translation and rotation misalignment from its nominal frame. | Test |
| SENSOR-016 | Quality metadata | Beta | A measurement SHOULD expose covariance or quality flags when the active model can estimate them. | Test |
| SENSOR-017 | Encoder | MVP | BeforeMetal SHALL provide a joint or shaft encoder with configurable resolution, rate, noise, bias, and latency. | Analysis |
| SENSOR-018 | IMU | MVP | BeforeMetal SHALL provide accelerometer and gyroscope measurements with correct frame, gravity/specific-force semantics, rate, bias, drift, noise, saturation, and latency. | Analysis |
| SENSOR-019 | Range sensor | MVP | BeforeMetal SHALL provide a ray- or shape-query range sensor with configurable field, range, resolution, noise, dropout, and latency. | Analysis |
| SENSOR-020 | Joint-state sensor | MVP | BeforeMetal SHALL expose joint position and velocity after the configured sensor signal chain separately from privileged mechanics truth. | Test |
| SENSOR-021 | Contact sensor | MVP | BeforeMetal SHALL provide a configurable contact-presence or contact-load measurement based on mechanics contact data. | Test |
| SENSOR-022 | Force-torque sensor | Beta | BeforeMetal SHALL support a six-axis force-torque sensor with frame, range, noise, bias, latency, and optional compliance. | Analysis |
| SENSOR-023 | GNSS or navigation sensor | Beta | BeforeMetal SHALL support a configurable global-position measurement and quality model when a world georeference is defined. | Analysis |
| SENSOR-024 | Magnetometer | Beta | BeforeMetal SHALL support magnetometer measurements using world field, sensor frame, bias, noise, saturation, and disturbances where modeled. | Analysis |
| SENSOR-025 | Camera | Beta | BeforeMetal SHALL support timestamped color and depth image capture with declared projection, exposure, resolution, distortion support, and latency. | Analysis |
| SENSOR-026 | LiDAR | Beta | BeforeMetal SHALL support timestamped scan geometry, per-ray timing where enabled, range limits, noise, dropout, and weather degradation. | Analysis |
| SENSOR-027 | Rolling shutter | Future | A camera MAY support row-dependent capture timing and platform motion during exposure. | Analysis |
| SENSOR-028 | Radar and sonar | Future | BeforeMetal MAY support radar and sonar through explicit phenomenological or wave-based fidelity models. | Analysis |
| SENSOR-029 | Weather degradation | MVP | A sensor model SHALL declare every supported environment dependency, and each enabled degradation stage SHALL consume the corresponding committed environment state. | Test |
| SENSOR-030 | Independent randomness | MVP | A sensor's stochastic stream SHALL not change because another sensor is added, removed, or reordered. | Test |
| SENSOR-031 | Sensor capability report | MVP | Every sensor SHALL report truth dependencies, signal stages, rates, output schema, stochastic behavior, and validity envelope. | Inspection |
| SENSOR-032 | Electrical measurement | MVP | BeforeMetal SHALL provide voltage, current, and power measurements with configurable range, resolution, rate, noise, bias, and latency. | Analysis |
| SENSOR-033 | Temperature measurement | Beta | BeforeMetal SHALL provide component or environment temperature measurements through the standard sensor signal chain. | Analysis |
| SENSOR-034 | Atmospheric measurement | Beta | BeforeMetal SHALL provide pressure, humidity, and supported gas or air-property measurements through the standard sensor signal chain. | Analysis |
| SENSOR-035 | Tactile array | Future | BeforeMetal MAY provide spatially distributed contact pressure or force measurements when the selected contact backend exposes sufficient information. | Analysis |
| SENSOR-036 | Rain-degraded range sensing | MVP | The reference range sensor SHALL apply a named, parameterized, and benchmarked precipitation or visibility effect that measurably changes its delivered range, noise, or dropout behavior. | Analysis |
| SENSOR-037 | Fidelity-required sensor stages | MVP | Each fidelity profile SHALL declare mandatory and permitted-to-bypass sensor pipeline stages for every selected sensor, and the compiler SHALL reject a configuration that bypasses a mandatory stage. | Test |
| SENSOR-038 | Stable annotation identity | Beta | Every semantic or instance annotation SHALL reference a stable entity identity and a versioned label taxonomy rather than deriving identity from display color, render order, or collection order. | Test |
| SENSOR-039 | Synthetic ground-truth products | Beta | BeforeMetal SHALL provide synchronized depth, semantic segmentation, instance segmentation, two-dimensional bounding-box, three-dimensional bounding-box, and object-pose truth products with declared frames, units, capture times, visibility or occlusion semantics, and generating capabilities. | Analysis |
Change rationale (SENSOR-038, SENSOR-039): Camera and LiDAR support alone does not define a usable synthetic-data contract. Stable labels and explicitly timed, framed truth products make generated annotations traceable while preserving the separation between privileged truth and delivered sensor measurements.
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