Stabilize OpenSim agent runtime and Mentra integration

crates/metacrate-grid-agent/src/vision_tests.rs

@@ -102,26 +102,22 @@ async fn golden_scene_is_deterministic_depth_ordered_and_privacy_marked() {
         .capture("two", 7, CancellationToken::default())
         .await
         .unwrap();
-    assert_eq!(first.png, second.png);
+    assert_eq!(first.jpeg, second.jpeg);
     assert_eq!(first.image_sha256, second.image_sha256);
     assert_eq!(
         first.image_sha256,
-        "e943b14142da05fcc1471ee0b639ffc1c11c74bfde83432ad3a26f994e4e665a"
+        "b53d23f57ba0d6fb79856afde111ad6dc25559e810dcc028a5f107090914821d"
     );
     assert!(first.summary.contains("privacy-marked residents"));
     assert!(!first.summary.contains("Private Resident"));
     assert!(first.summary.contains("textures_missing=1"));
-    assert!(first.data_url.starts_with("data:image/png;base64,"));
-    let decoder = png::Decoder::new(first.png.as_slice());
-    let mut reader = decoder.read_info().unwrap();
-    assert_eq!(
-        reader.info().srgb,
-        Some(png::SrgbRenderingIntent::Perceptual)
-    );
-    let mut pixels = vec![0; reader.output_buffer_size()];
-    let info = reader.next_frame(&mut pixels).unwrap();
-    let center = ((info.height as usize / 2) * info.width as usize + info.width as usize / 2) * 4;
-    assert_eq!(&pixels[center..center + 4], &[0, 255, 0, 255]);
+    assert!(first.data_url.starts_with("data:image/jpeg;base64,"));
+    let mut decoder = jpeg_decoder::Decoder::new(first.jpeg.as_slice());
+    let pixels = decoder.decode().unwrap();
+    let info = decoder.info().unwrap();
+    assert_eq!((info.width, info.height), (64, 64));
+    let center = ((info.height as usize / 2) * info.width as usize + info.width as usize / 2) * 3;
+    assert!(pixels[center + 1] > 180 && pixels[center] < 80 && pixels[center + 2] < 80);
 }
 
 #[tokio::test]
@@ -166,7 +162,7 @@ async fn invalid_camera_huge_scene_stale_generation_and_size_limit_fail_closed()
         VisionLimits {
             width: 64,
             height: 64,
-            max_png_bytes: 4096,
+            max_jpeg_bytes: 4096,
             minimum_interval: std::time::Duration::ZERO,
             ..VisionLimits::default()
         },