schema_version: "1.0"

module:
  name: muninn
  version: "0.1.0"
  display_name: "MUNINN — SD-GS Structured Deformable Gaussian Splatting"
  description: "Structured deformable 3D Gaussians for efficient dynamic scene reconstruction"
  category: perception.scene_understanding
  license: Apache-2.0
  paper: "SD-GS: Structured Deformable 3D Gaussians for Efficient Dynamic Scene Reconstruction (Jul 2025)"

capabilities:
  provides:
    - type: scene_reconstruction
      subtype: dynamic_gaussian
    - type: deformation_modeling
      subtype: structured

interface:
  inputs:
    - name: rgb_images
      ros2_type: sensor_msgs/msg/Image
    - name: camera_poses
      ros2_type: geometry_msgs/msg/PoseArray
  outputs:
    - name: gaussian_field
      ros2_type: std_msgs/msg/String
    - name: rendered_view
      ros2_type: sensor_msgs/msg/Image

hardware:
  platforms:
    - name: linux_x86
      backends: [onnxruntime_cuda]
    - name: nvidia_jetson
      backends: [tensorrt]

performance:
  profiles:
    - platform: linux_x86
      model: muninn-base
      backend: onnxruntime_cuda
      fps: 5
      latency_p50_ms: 200

safety:
  failure_mode: returns_empty
  timeout_ms: 5000
  health_topic: /anima/muninn/health

composability:
  pairs_well_with:
    - perception.slam
    - perception.tracking
  conflicts_with: []

container:
  image: ghcr.io/robotflow-labs/anima-muninn:0.1.0
  port: 8102