fix(control-station): align lidar viewer and expose polygon

apps/control-station/src/workspaces/LidarGroundPointCloud.tsx

@@ -60,12 +60,13 @@ function frameColors(
     const candidateAssigned = frame.masks.candidateAssigned[index] === 1;
     if (mode === "intensity") {
       const intensity = (frame.intensity0To255?.[index] ?? 96) / 255;
+      const neutral = 0.16 + intensity * 0.8;
       setRgb(
         colors,
         offset,
-        0.12 + intensity * 0.74,
-        0.24 + intensity * 0.68,
-        0.34 + intensity * 0.6,
+        neutral,
+        neutral,
+        neutral,
       );
     } else if (mode === "current") {
       setRgb(
@@ -131,7 +132,7 @@ export function LidarGroundPointCloud({
     }
     renderer.setPixelRatio(Math.min(window.devicePixelRatio, 2));
     renderer.outputColorSpace = THREE.SRGBColorSpace;
-    renderer.setClearColor(0x071018, 0.96);
+    renderer.setClearColor(0x06070a, 1);
     renderer.domElement.setAttribute(
       "aria-label",
       "Интерактивное облако LiDAR",
@@ -139,7 +140,7 @@ export function LidarGroundPointCloud({
     host.prepend(renderer.domElement);
 
     const scene = new THREE.Scene();
-    const fog = new THREE.FogExp2(0x071018, 0.035);
+    const fog = new THREE.FogExp2(0x06070a, 0.035);
     scene.fog = fog;
     fogRef.current = fog;
     const camera = new THREE.PerspectiveCamera(48, 1, 0.01, 1_000);
@@ -172,7 +173,7 @@ export function LidarGroundPointCloud({
     materialRef.current = material;
     scene.add(new THREE.Points(geometry, material));
 
-    const grid = new THREE.GridHelper(10, 40, 0x71963d, 0x26312a);
+    const grid = new THREE.GridHelper(10, 40, 0x454846, 0x252725);
     gridRef.current = grid;
     const gridMaterials = Array.isArray(grid.material)
       ? grid.material

apps/control-station/src/workspaces/PolygonRoverScene.tsx

@@ -378,7 +378,7 @@ export function PolygonRoverScene({
           <span>
             {workerAvailable
               ? "Запустите PX4/Gazebo — модель останется доступна для осмотра."
-              : "Полигон появится в шапке после подтверждения Simulation Worker."}
+              : "Прогоны и датасеты доступны; запуск и управление откроются после подтверждения Simulation Worker."}
           </span>
         </div>
       ) : null}