Stem Mission
Baseline scenario context
The stem mission is a repeatable obstacle-field loop. Individual cases change field density or duration so the same avoidance stack can be tested under baseline, dense, and longer-running pressure.
Performance
P01 Obstacle Gauntlet
Performance and endurance tests for obstacle avoidance. These cases exercise repeated obstacle-field traversal and grade completion, collision safety, warning cleanliness, and wall-time behavior.
Examples
Representative runs
Case Matrix
All cases
baseline_field_pass
Stages the checked-in six-obstacle baseline_field.txt and traverses it for one waypoint loop, testing the exact reference fixture rather than any safe field; passes when the staged file has count 6 and fingerprint sha256_4e5a4b8c6149, with one cycle, zero collisions, 0–6 near misses, 1–8 encounters, OBAVOIDING=end, no timeout, zero scanned warning matches, and wall time in 16.5–20.0 seconds locally or 80–95 seconds under the CI profile.
dense_field_pass
Stages the distinct eight-obstacle dense_field.txt and traverses it for one waypoint loop, testing the exact denser fixture rather than the baseline field; passes when the staged file has count 8 and fingerprint sha256_d5c642b45d1d, with the same motion, warning, and profile-specific timing conditions as the baseline.
endurance_random_pass
Generates seven obstacles at launch and repeats the loop until at least ten cycles, exercising a long randomized avoidance sample; passes when the staged field contains seven polygons, with zero collisions, 20–70 near misses, 50–80 encounters, OBAVOIDING=end, DB_UPTIME<=1800, no timeout, zero scanned warnings, and wall time in 145–180 seconds locally or 780–900 seconds under the CI profile.