[jacoblambert]

Summary

This PR lets a caller add the metadata 0.x never stored when migrating with V0Migrator. It is what the backfill in tier4_perception_dataset (convert_t4_to_t4_v1) builds on.

migrator = V0Migrator("<0.x dataset>", "out/<DATASET_ID>/<DATASET_VERSION>")
migrator.tables(SchemaName.VEHICLE)[0].model = "j6_gen2"  # records: edit or append
migrator.migrate("<DATASET_ID>", <DATASET_VERSION>, manifest_fields={"project_id": "x2_dev", "provenance": {...}})

• migrate(..., manifest_fields=...): the given manifest fields replace the defaults (provenance, project_id, generators, ...). Their migration_notes come after the migration's own.
• When the caller gives provenance, the note "record start / end are the first / last sample times" is not added.
• Records were already editable through migrator.tables(...); the docs now say so.

One spec line changes: ego_pose.acceleration is what an IMU measures, gravity included (az ≈ +9.8 m/s² at rest). The backfill reads /sensing/imu/imu_data (base_link). /localization/acceleration is longitudinal only, and the raw Tamagawa IMU is FRD, so neither fits.

Tests

• test_migrate_with_backfilled_metadata: an edited vehicle and caller-given project, provenance, generators and notes end up in the written dataset, which passes sanity.

Checked on three real db_j6gen2_v12 scenes (1d095bce, 610e6b9f, 3a0c82f1): t4sanity --checksum 101 passed, 0 failed. Vehicle, map ids, provenance, Autoware version, ego twist / acceleration / GNSS and vehicle state are filled; REC025 (placeholders) no longer warns.

Related PRs/branches:

• perception-devops : https://github.com/tier4/perception-devops/pull/31
• tier4-perception-dataset (WIP): https://github.com/tier4/tier4_perception_dataset/tree/v1/rosbag-t4migrate