feat: activate self-hosted lidar spatial scene

2026-07-16 10:36:51 +03:00 · 2026-07-16 10:36:51 +03:00 · 904c6ea13a
parent 6402601d6d
commit 904c6ea13a
27 changed files with 2009 additions and 646 deletions
--- a/README.md
+++ b/README.md
@ -7,8 +7,10 @@ or speculative writes.
 Current status: live proof completed on firmware 3.0.2. The Mac provisioned the
 K1 onto an existing LAN without LixelGO, connected to its MQTT broker, captured
 the scan-correlated point-cloud and pose streams, and decoded both successfully.
-The repository also contains a local React control console and a Foxglove live
-bridge for the verified point-cloud and trajectory topics.
+The repository also contains a local React control console, an automatic Rerun
+gRPC bridge for the verified point-cloud and trajectory streams, and a
+self-hosted Rerun Web Viewer embedded in that console. The former Foxglove
+bridge remains only as a legacy regression module.

 The repository now contains one narrowly gated state-changing command:
 `ble wifi-configure`. It accepts only the reviewed firmware-3 provisioning
@ -88,25 +90,45 @@ inside the NODE.DC shell. It can open a compatible RRD file over HTTP(S) or a
 Rerun gRPC/proxy source such as `rerun+http://127.0.0.1:9876/proxy`. It does not
 use an external hosted viewer UI.

-There is one important current boundary: the automatic K1 MQTT → Rerun
-RRD/gRPC contract is **not implemented yet**. Starting a K1 live or replay
-session updates real state and metrics, but it does not by itself populate the
-embedded Rerun viewport. The scene controls for point size, gradients,
-accumulation, layers, timeline and layout are presently a product UI contract;
-their Rerun Blueprint/playback adapter is also still pending. No synthetic
-point cloud, trajectory, camera frame or latency value is generated to conceal
-these missing links.
+The first K1 live session or replay in a `k1link serve` process creates one local
+Rerun `RecordingStream`, starts its gRPC/proxy server on TCP 9876 and publishes
+the resulting URL through control-plane state. Later sessions reset their
+session-local scene and metrics and reuse that process-wide stream; this avoids
+restarting the native listener while the embedded browser remains connected.
+Unless an operator has entered a manual source, the React application assigns
+that URL to the embedded viewer. The complete runtime path is K1 MQTT → raw-first evidence
+capture → bounded latest-wins preview queue → reviewed protobuf/LZ4 decoders →
+Rerun `Points3D`, `Transform3D` and `LineStrips3D` → embedded Web Viewer.

-The existing Python MQTT → Foxglove pipeline remains in place as the verified
-legacy visualization adapter. It still publishes `/k1/points`, `/k1/pose`,
-`/k1/trajectory` and `/k1/metrics`, and preserves the measured
-MQTT-receive-to-Foxglove-publish latency plus bounded latest-wins preview
-dropping. It is retained for evidence, regression and diagnostics, not as the
-target Control Station interface. The historical
-[live viewer runbook](docs/06_K1_LIVE_VIEWER.md) records that proven path and its
-timing semantics; the current frontend contract is documented in
+The default Rerun blueprint shows a 12-second sliding accumulation of real point
+frames. Product controls are connected for point size, intensity/height/distance
+or available RGB coloring, Turbo/Viridis/Plasma/grayscale/custom palettes,
+point and trajectory visibility, and the scene grid. Projection, custom
+timeline transport and saved layout remain later product work. No synthetic
+point cloud, trajectory, camera frame or latency value is generated.
+
+A powered-device checkpoint passed 80 real MQTT messages through the current
+Rerun runtime: 38 point-cloud frames, 42 pose frames, 2,775 points in the last
+cloud and zero decode errors. Raw panoramic camera frames remain absent. Rerun
+`capture_time` is the Mac receive timestamp, not a proven K1 sensor timestamp or
+photon-to-screen measurement.
+
+The old Foxglove implementation is retained only in
+`src/k1link/viewer/foxglove_bridge.py` and its regression tests. The current
+live/replay runtime does not start it or use TCP 8765. The
+[live viewer runbook](docs/06_K1_LIVE_VIEWER.md) records the active Rerun path and
+its timing/security boundaries; the frontend contract is documented in
 [`apps/k1-viewer/README.md`](apps/k1-viewer/README.md).

+The FastAPI application and credential endpoint bind to loopback, but the Rerun
+gRPC server currently binds TCP 9876 on all network interfaces even though its
+reported source URL contains `127.0.0.1`. It has no connector-level
+authentication or TLS. Use it only on a trusted laboratory LAN, do not expose
+9876 to the public Internet or a cellular WAN, and add an authenticated secure
+proxy before any remote deployment. Stopping acquisition keeps the local scene
+server and its URL available for the next session. Stop `k1link serve` to close
+the listener and release its retained memory.
+
 `doctor` is intentionally non-invasive. It checks the local Python environment
 and reports external tools; it does not request Bluetooth permission, scan the
 LAN, touch the K1, alter Homebrew, or change capture permissions.
@ -147,7 +169,7 @@ present.
 - [Artifact and secret policy](docs/03_ARTIFACT_POLICY.md)
 - [Reviewed BLE Wi-Fi profile](docs/04_K1_WIFI_PROVISIONING_PROFILE.md)
 - [Verified MQTT stream profile](docs/05_K1_MQTT_STREAM_PROFILE.md)
- [Live console and Foxglove runbook](docs/06_K1_LIVE_VIEWER.md)
+- [Live console and embedded Rerun runbook](docs/06_K1_LIVE_VIEWER.md)
 - [Redacted live lab report](docs/lab/001_K1_LIVE_MQTT_20260715.redacted.md)
 - [Session manifest schema](schemas/session-manifest.schema.json)
 - [Reference input provenance](docs/reference/README.md)
--- a/apps/k1-viewer/README.md
+++ b/apps/k1-viewer/README.md
@ -7,8 +7,9 @@ device adapter, но структура интерфейса от него не

 Внутри пространственной рабочей поверхности встроен открытый Rerun Web Viewer.
 Это self-hosted frontend-компонент из npm-пакета `@rerun-io/web-viewer`, а не
-переход во внешний облачный интерфейс. Сам браузерный компонент, однако, должен
-получить совместимый источник RRD или Rerun gRPC.
+переход во внешний облачный интерфейс. При запуске K1 live/replay backend сам
+создаёт Rerun gRPC/proxy source; ручной адрес нужен только для другого Rerun
+потока или совместимой RRD-записи.

 ## Текущее состояние

@ -18,10 +19,10 @@ device adapter, но структура интерфейса от него не
 | Локальный control plane | Реализован | React получает состояние и выполняет операции через FastAPI REST и WebSocket на loopback. |
 | K1 BLE → Wi-Fi | Реализован | Реальный BLE-поиск всех видимых устройств и одна подтверждённая provisioning-запись выбранному устройству. |
 | K1 live/replay MQTT | Реализован | Read-only приём, raw-first сохранение, декодирование облака точек и позы, реальные метрики. |
-| Legacy Foxglove adapter | Реализован | Текущий Python runtime публикует декодированные K1 данные в локальный Foxglove WebSocket. Это проверенный диагностический backend, а не продуктовый UI. |
-| Встроенный Rerun Viewer | Реализован | Открывает назначенный RRD по HTTP(S) или совместимый Rerun gRPC/proxy source внутри Control Station. |
-| Автоматический MQTT → Rerun | **Не реализован** | Запуск K1 live/replay пока не создаёт RRD и не подаёт данные во встроенный Rerun viewport. Нужен отдельный stream adapter. |
-| Контролы сцены → Rerun Blueprint | **Не реализованы** | Размер точек, палитра, накопление, слои, проекция, timeline и компоновка пока являются честным UI-контрактом и состоянием текущего сеанса. |
+| Автоматический MQTT → Rerun | Реализован | Первый live/replay поднимает process-wide `RecordingStream` и gRPC/proxy на TCP 9876; следующие сессии сбрасывают сцену и метрики и переиспользуют его. |
+| Встроенный Rerun Viewer | Реализован | Self-hosted npm-компонент автоматически открывает текущий gRPC source внутри Control Station; внешний viewer не используется. |
+| Контролы сцены → Rerun | Реализованы для текущей геометрии | Работают размер и видимость точек, атрибут цвета, палитра, окно накопления, траектория и сетка. Проекция, собственный timeline и сохранённые layout-профили ещё не подключены. |
+| Legacy Foxglove module | Только regression | Модуль и тесты сохранены для сравнения декодирования. Текущий live/replay runtime не запускает Foxglove WebSocket и не использует TCP 8765. |
 | Камеры, карты и миссии | Интерфейс готов | Серверная логика и реальные каналы для этих рабочих поверхностей ещё не подключены. |

 Приложение не генерирует демонстрационное облако, траекторию, кадры или
@ -31,28 +32,30 @@ device adapter, но структура интерфейса от него не
 ## Архитектура данных

 ```text
-NODE.DC Control Station в браузере
-├── control plane
-│   └── REST /api/* + WebSocket /api/events
-│       └── FastAPI на 127.0.0.1:8000
-│           ├── CoreBluetooth: discovery и reviewed Wi-Fi provisioning
-│           └── live/replay session runtime
-│
-├── текущий K1 preview path — legacy adapter
-│   └── K1 MQTT :1883, read-only
-│       ├── raw .k1mqtt + metadata + SHA-256 сохраняются первыми
-│       └── protobuf/LZ4 decoder
-│           └── Foxglove bridge → локальный WebSocket
-│
-└── продуктовая пространственная сцена
-    └── встроенный @rerun-io/web-viewer
-        └── RRD URL или Rerun gRPC/proxy source
+K1 MQTT :1883, read-only
+└── raw .k1mqtt + metadata + SHA-256 сохраняются первыми
+    └── bounded latest-wins preview queue (32 сообщения)
+        └── проверенный protobuf/LZ4 decoder
+            └── Rerun Points3D + Transform3D + LineStrips3D
+                └── gRPC/proxy TCP 9876
+                    └── rerun_grpc_url в REST/WebSocket state
+                        └── встроенный @rerun-io/web-viewer
+                            └── пространственная сцена NODE.DC
+
+React Control Station ←→ REST /api/* + WebSocket /api/events
+                         FastAPI на 127.0.0.1:8000
+                         CoreBluetooth + live/replay runtime
 ```

-Между декодером K1 и Rerun Viewer сейчас нет автоматической стрелки. Поля
-`foxglove_ws_url` и `foxglove_viewer_url` ещё присутствуют в API только потому,
-что Python runtime продолжает поднимать проверенный legacy adapter. Пункт
-управления не использует их как основную поверхность визуализации.
+В момент готовности `RerunBridge` backend публикует адрес вида
+`rerun+http://127.0.0.1:9876/proxy`. Frontend автоматически назначает его сцене,
+если оператор не указал ручной source. После остановки приёма URL и встроенный
+viewer остаются активны, а следующая сессия сбрасывает session-local геометрию,
+траекторию и метрики и использует тот же listener. Он закрывается вместе с
+процессом `k1link serve`.
+
+Поля `foxglove_ws_url` и `foxglove_viewer_url` пока остаются в API как
+совместимость со старым контрактом, но текущий runtime держит их пустыми.

 ## Фиксированная оболочка

@ -70,8 +73,10 @@ Shell собран из локальных NODE.DC UI packages и сохраня

 Встроенный Rerun Viewer работает как canvas внутри этой оболочки. Его верхняя,
 blueprint-, selection- и time-панели скрыты, чтобы продуктовые действия жили в
-Control Station. Это ещё не означает, что все продуктовые контролы уже связаны
-с API Rerun: текущая граница явно показана статусом `Интерфейс готов`.
+Control Station. Размер точек, способ окрашивания и палитра, 12-секундное по
+умолчанию накопление, видимость облака и траектории и сетка связаны с backend и
+Rerun Blueprint. Кнопки собственного timeline, смена 2D/3D/карты и сохранение
+layout пока остаются интерфейсным контрактом.

 ## Архитектурные разделы

@ -93,7 +98,7 @@ Control Station. Это ещё не означает, что все продук

 ## Установка, проверка, сборка и запуск

-Требуются Node.js 20 или новее, `uv` и соседний checkout
+Требуются Node.js 20.19+ либо 22.12+, `uv` и соседний checkout
 `NODEDC_DESIGN_GUIDELINE`: зависимости `@nodedc/*` подключены к нему через
 локальные `file:` пути. Python устанавливается только в `.venv` репозитория.

@ -142,18 +147,22 @@ Vite слушает `http://127.0.0.1:5173` и проксирует `/api` и `/
 6. Запустить live-приём по определённому адресу K1 либо replay локального
   `.k1mqtt`/проверенного TSV. Физическое сканирование K1 запускается и
   останавливается подтверждённым двойным нажатием кнопки устройства.
-7. Состояние, частота, число точек, задержка и пропуски preview появятся только
-   после прихода реальных данных.
+7. Backend автоматически поднимет Rerun gRPC на TCP 9876 и опубликует адрес в
+   state. Ручной source вводить не требуется.
+8. Открыть **Наблюдение → Пространственная сцена**. Реальные облако и траектория,
+   частота, число точек, задержка и пропуски preview появятся после прихода
+   сообщений K1.

-Этот путь запускает существующий MQTT/Foxglove runtime. Чтобы увидеть тот же
-живой K1 поток во встроенной пространственной сцене, нужно сначала реализовать и
-запустить MQTT→Rerun stream adapter; одного запуска live-сессии сейчас
-недостаточно.
+В проверочном live-сеансе через этот путь прошло 80 реальных MQTT-сообщений:
+38 кадров `lio_pcl`, 42 кадра `lio_pose`, 2 775 точек в последнем облаке и
+0 ошибок декодирования.

 ## Источники Rerun

-В **Наблюдение → Пространственная сцена → Источник** принимается URL, который
-понимает `@rerun-io/web-viewer` версии, зафиксированной в `package.json`:
+Live/replay runtime автоматически назначает первый URL из примера. В
+**Наблюдение → Пространственная сцена → Источник** можно оставить ручное поле
+пустым либо указать другой адрес, который понимает `@rerun-io/web-viewer`
+зафиксированной в `package.json` версии:

 ```text
 rerun+http://127.0.0.1:9876/proxy
@ -165,14 +174,23 @@ https://example.internal/recording.rrd
  proxy;
 - `http(s)://…/recording.rrd` — RRD-запись по HTTP(S);
 - версия RRD должна быть совместима с версией Web Viewer;
- URL хранится только в состоянии текущей страницы;
+- ручной URL хранится только в состоянии текущей страницы и имеет приоритет над
+  автоматическим source;
 - ошибка запуска показывается в viewport, без подстановки фиктивных данных.

 После готовности Viewer выбор Rerun entity возвращает `entityPath` и имя view в
-оболочку. Продуктовые настройки отображения, custom timeline, переключатель
-2D/3D/карты и сохранение RBL пока не вызывают Blueprint/playback API. Черновик
-компоновки фиксируется только в памяти текущей страницы и не записывается на
-диск.
+оболочку. Backend принимает и применяет к Rerun размер точки `0.5–12.0`, режимы
+цвета `intensity`, `height`, `distance`, `rgb`, `class`, палитры Turbo, Viridis,
+Plasma, grayscale и custom, накопление `0–120` секунд, а также видимость облака,
+траектории и сетки. Значение по умолчанию — 12 секунд истории реальных кадров.
+Для текущего firmware-3 `lio_pcl` доказана только интенсивность из младшего
+байта `rgbi`; RGB используется лишь когда он действительно присутствует в
+декодированном формате. Custom/class сейчас означает выбранный сплошной цвет,
+а не готовую семантическую классификацию.
+
+Custom timeline, переключатель 2D/3D/карты, семантические слои и сохранение RBL
+пока не вызывают Blueprint/playback API. Черновик компоновки фиксируется только
+в памяти текущей страницы и не записывается на диск.

 ## Контракт локального API

@ -185,12 +203,14 @@ https://example.internal/recording.rrd
 | `POST` | `/api/session/live` | Опционально `{ "host", "duration_seconds" }`. |
 | `POST` | `/api/session/replay` | `{ "path", "speed", "loop" }`. |
 | `POST` | `/api/session/stop` | Остановка активного источника. |
+| `POST` | `/api/viewer/settings` | Размер/цвет точек, накопление, видимость облака, траектории и сетки. |
 | `WS` | `/api/events` | Периодические snapshots для live UI. |

 `/api/state` и изменяющие состояние ответы могут вернуть snapshot напрямую или
 как `{ "state": { ... } }`. Текущие поля включают `phase`, `message`, `devices`,
-`selected_device_id`, `k1_ip`, `source_mode`, `metrics` и legacy-поля
-`foxglove_ws_url`/`foxglove_viewer_url`. OpenAPI доступен по `/api/docs`.
+`selected_device_id`, `k1_ip`, `source_mode`, `metrics`, `rerun_grpc_url` и
+`viewer_settings`. Legacy-поля `foxglove_ws_url`/`foxglove_viewer_url` остаются
+пустыми. OpenAPI доступен по `/api/docs`.

 ## Карта исходников frontend

@ -211,6 +231,12 @@ https://example.internal/recording.rrd
 ## Safety и чувствительные данные

 - Control Station и credential endpoint доступны только на loopback.
+- Исключение: Rerun gRPC/proxy на TCP 9876 сейчас слушает все сетевые интерфейсы,
+  хотя автоматически возвращаемый URL содержит `127.0.0.1`. На нём нет
+  connector-level authentication или TLS. Этот порт допустим только в доверенной
+  лабораторной LAN; его нельзя пробрасывать в публичный Интернет или cellular
+  WAN без аутентифицированного TLS reverse proxy. Listener намеренно остаётся
+  активным между сессиями; для его закрытия нужно остановить `k1link serve`.
 - Пароль Wi-Fi находится только в React memory, передаётся в JSON POST body,
  очищается после успешного ответа и не сохраняется в URL/local storage.
 - BLE-подключение выполняет только отдельно рассмотренную provisioning-запись;
@ -219,6 +245,12 @@ https://example.internal/recording.rrd
  физического сканирования остаются за кнопкой K1.
 - Live-сессии сначала сохраняют сырые сообщения, затем формируют preview. При
  перегрузке preview может быть отброшен, raw evidence сохраняется.
+- Timeline `capture_time` сохраняет Unix-время приёма сообщения Mac, а окно
+  накопления viewer использует session-local `stream_time`. `capture_time` — не
+  доказанный timestamp сенсора K1 и не photon-to-screen latency.
+- Панорамный камерный поток в наблюдавшихся MQTT report topics отсутствует;
+  текущая Rerun-сцена содержит только облако точек и позу/траекторию, а
+  операционные метрики отображаются внешней оболочкой Control Station.
 - `sessions/` игнорируется Git и может содержать адреса, идентификаторы,
  траекторию и карту помещения. В репозиторий попадают только redacted manifests
  и безопасная документация.
--- a/apps/k1-viewer/src/App.tsx
+++ b/apps/k1-viewer/src/App.tsx
@ -1,10 +1,11 @@
-import { useMemo, useState } from "react";
+import { useCallback, useEffect, useMemo, useState } from "react";
 import {
  AdminNavigationPanel,
  AppHeader,
  ApplicationPanel,
  ApplicationShell,
  Button,
+  Checker,
  ColorField,
  ControlRow,
  HeaderAvatar,
@ -17,7 +18,6 @@ import {
  RangeControl,
  Select,
  StatusBadge,
-  Switch,
  TextField,
  Window,
  WindowFooterActions,
@ -26,6 +26,7 @@ import {
 } from "@nodedc/ui-react";

 import { LandingStage } from "./components/LandingStage";
+import type { ViewerSettings } from "./api";
 import {
  rootById,
  roots,
@ -44,6 +45,9 @@ import {
 import { useK1Console } from "./useK1Console";
 import { DeviceWorkspace } from "./workspaces/DeviceWorkspace";
 import { WorkspaceRenderer } from "./workspaces/Workspaces";
+import "./styles/scene-windows.css";
+
+type SceneToolWindowId = "sources" | "display" | "layers" | "layout";

 const colorModeOptions: Array<{ value: PointColorMode; label: string; description: string }> = [
  { value: "intensity", label: "Интенсивность", description: "Значение отражённого сигнала" },
@ -61,6 +65,46 @@ const paletteOptions: Array<{ value: PointPalette; label: string; description: s
  { value: "custom", label: "Свой цвет", description: "Один назначенный цвет" },
 ];

+function toViewerSettings(settings: SceneSettings): ViewerSettings {
+  return {
+    point_size: settings.pointSize,
+    color_mode: settings.colorMode,
+    palette: settings.palette,
+    custom_color: settings.customColor,
+    accumulation_seconds: settings.accumulationSeconds,
+    show_points: settings.showPoints,
+    show_trajectory: settings.showTrajectory,
+    show_grid: settings.showGrid,
+  };
+}
+
+function mergeViewerSettings(
+  current: SceneSettings,
+  remote: ViewerSettings,
+): SceneSettings {
+  const next = {
+    ...current,
+    pointSize: remote.point_size,
+    colorMode: remote.color_mode,
+    palette: remote.palette,
+    customColor: remote.custom_color,
+    accumulationSeconds: remote.accumulation_seconds,
+    showPoints: remote.show_points,
+    showTrajectory: remote.show_trajectory,
+    showGrid: remote.show_grid,
+  };
+  const unchanged =
+    current.pointSize === next.pointSize &&
+    current.colorMode === next.colorMode &&
+    current.palette === next.palette &&
+    current.customColor === next.customColor &&
+    current.accumulationSeconds === next.accumulationSeconds &&
+    current.showPoints === next.showPoints &&
+    current.showTrajectory === next.showTrajectory &&
+    current.showGrid === next.showGrid;
+  return unchanged ? current : next;
+}
+
 export default function App() {
  const console = useK1Console();
  const workspace = useApplicationWorkspace<string>({
@ -74,6 +118,7 @@ export default function App() {
  const [sourceWindowOpen, setSourceWindowOpen] = useState(false);
  const [displayWindowOpen, setDisplayWindowOpen] = useState(false);
  const [layerInspectorOpen, setLayerInspectorOpen] = useState(false);
+  const [sceneWindowOrder, setSceneWindowOrder] = useState<SceneToolWindowId[]>([]);
  const [layoutWindowOpen, setLayoutWindowOpen] = useState(false);
  const [layoutName, setLayoutName] = useState("Операторская сцена");
  const [layoutDraftSaved, setLayoutDraftSaved] = useState(false);
@ -83,6 +128,48 @@ export default function App() {
  const currentRoot = rootById(activeRoot);
  const activeDefinition = workspaceById(workspace.activeView);
  const rootWorkspaces = workspacesForRoot(activeRoot);
+  const activeSceneWindow = sceneWindowOrder[sceneWindowOrder.length - 1] ?? null;
+  const automaticSourceUrl = console.state?.rerun_grpc_url?.trim() ?? "";
+  const effectiveSourceUrl = sourceUrl || automaticSourceUrl;
+
+  useEffect(() => {
+    const remote = console.state?.viewer_settings;
+    if (!remote) return;
+    setSceneSettings((current) => mergeViewerSettings(current, remote));
+    if (!displayWindowOpen) {
+      setDisplayDraft((current) => mergeViewerSettings(current, remote));
+    }
+  }, [console.state?.viewer_settings, displayWindowOpen]);
+
+  const activateSceneWindow = useCallback((windowId: SceneToolWindowId) => {
+    setSceneWindowOrder((current) => [
+      ...current.filter((candidate) => candidate !== windowId),
+      windowId,
+    ]);
+  }, []);
+
+  const closeSceneWindow = useCallback((windowId: SceneToolWindowId) => {
+    if (windowId === "sources") setSourceWindowOpen(false);
+    if (windowId === "display") setDisplayWindowOpen(false);
+    if (windowId === "layers") setLayerInspectorOpen(false);
+    if (windowId === "layout") setLayoutWindowOpen(false);
+    setSceneWindowOrder((current) => current.filter((candidate) => candidate !== windowId));
+  }, []);
+
+  useEffect(() => {
+    if (!activeSceneWindow) return;
+
+    const closeActiveWindow = (event: KeyboardEvent) => {
+      if (event.key !== "Escape" || event.defaultPrevented) return;
+      if (document.querySelector(".nodedc-dropdown-surface")) return;
+      if (document.querySelector('.nodedc-overlay[data-placement="center"]')) return;
+      event.preventDefault();
+      closeSceneWindow(activeSceneWindow);
+    };
+
+    document.addEventListener("keydown", closeActiveWindow);
+    return () => document.removeEventListener("keydown", closeActiveWindow);
+  }, [activeSceneWindow, closeSceneWindow]);

  const selectRoot = (rootId: RootId) => {
    setActiveRoot(rootId);
@ -100,11 +187,41 @@ export default function App() {
  const openSource = () => {
    setSourceDraft(sourceUrl);
    setSourceWindowOpen(true);
+    activateSceneWindow("sources");
  };

  const openDisplay = () => {
    setDisplayDraft(sceneSettings);
    setDisplayWindowOpen(true);
+    activateSceneWindow("display");
+  };
+
+  const openLayers = () => {
+    setLayerInspectorOpen(true);
+    activateSceneWindow("layers");
+  };
+
+  const openLayout = () => {
+    setLayoutDraftSaved(false);
+    setLayoutWindowOpen(true);
+    activateSceneWindow("layout");
+  };
+
+  const applyDisplaySettings = async () => {
+    const applied = await console.updateViewerSettings(toViewerSettings(displayDraft));
+    if (applied) setSceneSettings(displayDraft);
+  };
+
+  const applyScenePatch = async (patch: Partial<SceneSettings>) => {
+    const previous = sceneSettings;
+    const next = { ...sceneSettings, ...patch };
+    setSceneSettings(next);
+    setDisplayDraft((current) => (displayWindowOpen ? { ...current, ...patch } : next));
+    const applied = await console.updateViewerSettings(toViewerSettings(next));
+    if (!applied) {
+      setSceneSettings(previous);
+      if (!displayWindowOpen) setDisplayDraft(previous);
+    }
  };

  const contentActions = useMemo<ApplicationPanelUtilityAction[]>(() => {
@ -122,17 +239,14 @@ export default function App() {
      actions.push(
        { label: "Настроить источник", icon: "network", onClick: openSource },
        { label: "Настроить отображение", icon: "sliders", onClick: openDisplay },
-        { label: "Открыть слои", icon: "list", onClick: () => setLayerInspectorOpen(true) },
+        { label: "Открыть слои", icon: "list", onClick: openLayers },
      );
    }

    actions.push({
      label: "Сохранить компоновку",
      icon: "save",
-      onClick: () => {
-        setLayoutDraftSaved(false);
-        setLayoutWindowOpen(true);
-      },
+      onClick: openLayout,
    });
    return actions;
  }, [activeDefinition?.kind, console, sceneSettings, sourceUrl]);
@ -231,8 +345,8 @@ export default function App() {
                  {phaseLabel(console.state?.phase)}
                </StatusBadge>
              ) : activeDefinition.kind === "spatial" ? (
-                <StatusBadge tone={sourceUrl ? "accent" : "warning"}>
-                  {sourceUrl ? "Источник назначен" : "Без источника"}
+                <StatusBadge tone={effectiveSourceUrl ? "accent" : "warning"}>
+                  {effectiveSourceUrl ? "Источник назначен" : "Без источника"}
                </StatusBadge>
              ) : (
                <StatusBadge tone="warning">Интерфейс готов</StatusBadge>
@ -242,20 +356,22 @@ export default function App() {
            onClose={workspace.closeView}
          >
            {activeDefinition.kind === "device" ? (
-              <DeviceWorkspace console={console} />
+              <DeviceWorkspace
+                console={console}
+                onOpenSpatialScene={() => openView("spatial-scene")}
+              />
            ) : (
              <WorkspaceRenderer
                definition={activeDefinition}
                state={console.state}
                backendStatus={console.backendStatus}
-                sourceUrl={sourceUrl}
+                sourceUrl={effectiveSourceUrl}
                sceneSettings={sceneSettings}
-                onSceneSettingsChange={setSceneSettings}
                navigation={{
                  openView,
                  openSource,
                  openDisplay,
-                  openLayers: () => setLayerInspectorOpen(true),
+                  openLayers,
                }}
              />
            )}
@ -265,10 +381,19 @@ export default function App() {

      <Window
        open={sourceWindowOpen}
-        title="Источник визуальных данных"
-        subtitle="ИСТОЧНИКИ RRD И RERUN GRPC"
-        size="md"
-        onClose={() => setSourceWindowOpen(false)}
+        title="Источники"
+        subtitle="Потоки и записи пространственной сцены"
+        placement="end"
+        draggable
+        closeOnBackdrop={false}
+        closeOnEscape={false}
+        lockBodyScroll={false}
+        trapFocus={false}
+        className="scene-tool-window scene-tool-window--sources"
+        data-scene-window="sources"
+        data-scene-active={activeSceneWindow === "sources" ? "true" : undefined}
+        onPointerDown={() => activateSceneWindow("sources")}
+        onClose={() => closeSceneWindow("sources")}
        footer={
          <WindowFooterActions>
            <Button
@ -276,10 +401,9 @@ export default function App() {
              onClick={() => {
                setSourceDraft("");
                setSourceUrl("");
-                setSourceWindowOpen(false);
              }}
            >
-              Очистить источник
+              Сбросить адрес
            </Button>
            <Button
              variant="primary"
@ -287,48 +411,107 @@ export default function App() {
              disabled={!sourceDraft.trim()}
              onClick={() => {
                setSourceUrl(sourceDraft.trim());
-                setSourceWindowOpen(false);
              }}
            >
-              Подключить
+              Применить адрес
            </Button>
          </WindowFooterActions>
        }
      >
-        <div className="modal-stack">
-          <div className="modal-contract-note" data-tone="accent">
-            <Icon name="network" />
-            <div>
-              <strong>Встроенный открытый визуализатор</strong>
-              <p>
-                Источник открывается внутри интерфейса, без перехода во внешний сервис. Версия
-                RRD должна совпадать с версией визуального движка.
-              </p>
-            </div>
-          </div>
-          <TextField
-            label="Адрес источника"
-            hint="URL"
-            value={sourceDraft}
-            onChange={(event) => setSourceDraft(event.target.value)}
-            spellCheck={false}
-            placeholder="rerun+http://127.0.0.1:9876/proxy или https://…/recording.rrd"
-            description="Текущий локальный MQTT-поток пока требует отдельного адаптера потока Rerun."
-          />
-          <div className="source-format-list">
-            <div><code>rerun+http://…/proxy</code><span>Живой gRPC источник</span></div>
-            <div><code>http://…/recording.rrd</code><span>Запись по HTTP</span></div>
-            <div><code>https://…/recording.rrd</code><span>Удалённая запись</span></div>
-          </div>
-        </div>
+        <Inspector
+          defaultOpen={["connection"]}
+          singleOpen
+          sections={[
+            {
+              id: "connection",
+              label: "Подключение",
+              description: "Адрес потока или записи",
+              content: (
+                <div className="inspector-control-stack">
+                  <ControlRow label="Состояние">
+                    <span className="scene-window-state">
+                      <i className="api-dot" data-status={effectiveSourceUrl ? "online" : "checking"} aria-hidden="true" />
+                      {effectiveSourceUrl ? "Источник назначен" : "Источник не назначен"}
+                    </span>
+                  </ControlRow>
+                  {effectiveSourceUrl ? (
+                    <ControlRow label="Активный адрес" layout="stack">
+                      <code className="scene-window-code">{effectiveSourceUrl}</code>
+                    </ControlRow>
+                  ) : null}
+                  <ControlRow label="Автоматический" layout="stack">
+                    <code className="scene-window-code">
+                      {automaticSourceUrl || "Локальный источник ещё не опубликован"}
+                    </code>
+                  </ControlRow>
+                  <TextField
+                    label="Ручной адрес"
+                    hint="необязательно"
+                    value={sourceDraft}
+                    onChange={(event) => setSourceDraft(event.target.value)}
+                    spellCheck={false}
+                    placeholder="rerun+http://127.0.0.1:9876/proxy"
+                    description="Пустое значение использует автоматический локальный источник. Ручной адрес нужен для другого gRPC-потока или записи RRD."
+                  />
+                </div>
+              ),
+            },
+            {
+              id: "formats",
+              label: "Поддерживаемые адреса",
+              description: "Rerun gRPC и RRD",
+              content: (
+                <div className="inspector-control-stack">
+                  <ControlRow label="Живой поток" layout="stack">
+                    <code className="scene-window-code">rerun+http://…/proxy</code>
+                  </ControlRow>
+                  <ControlRow label="Локальная запись" layout="stack">
+                    <code className="scene-window-code">http://…/recording.rrd</code>
+                  </ControlRow>
+                  <ControlRow label="Удалённая запись" layout="stack">
+                    <code className="scene-window-code">https://…/recording.rrd</code>
+                  </ControlRow>
+                </div>
+              ),
+            },
+            {
+              id: "adapter",
+              label: "Локальный адаптер",
+              description: "Транспорт устройства",
+              content: (
+                <div className="inspector-control-stack">
+                  <ControlRow label="Контур">
+                    <span className="scene-window-state">
+                      <i className="api-dot" data-status={console.backendStatus} aria-hidden="true" />
+                      {backendLabel(console.backendStatus)}
+                    </span>
+                  </ControlRow>
+                  <p className="scene-window-note">
+                    Встроенный адаптер публикует локальный Rerun gRPC автоматически после запуска
+                    живого приёма или повтора записи. Ручной адрес для этого не требуется.
+                  </p>
+                </div>
+              ),
+            },
+          ]}
+        />
      </Window>

      <Window
        open={displayWindowOpen}
-        title="Параметры отображения"
-        subtitle="ПРОСТРАНСТВЕННАЯ СЦЕНА"
-        size="md"
-        onClose={() => setDisplayWindowOpen(false)}
+        title="Отображение"
+        subtitle="Параметры пространственной сцены"
+        placement="end"
+        draggable
+        closeOnBackdrop={false}
+        closeOnEscape={false}
+        lockBodyScroll={false}
+        trapFocus={false}
+        className="scene-tool-window scene-tool-window--display"
+        data-scene-window="display"
+        data-scene-active={activeSceneWindow === "display" ? "true" : undefined}
+        onPointerDown={() => activateSceneWindow("display")}
+        onClose={() => closeSceneWindow("display")}
        footer={
          <WindowFooterActions>
            <Button variant="ghost" onClick={() => setDisplayDraft(defaultSceneSettings)}>
@ -337,143 +520,138 @@ export default function App() {
            <Button
              variant="primary"
              shape="pill"
-              onClick={() => {
-                setSceneSettings(displayDraft);
-                setDisplayWindowOpen(false);
-              }}
+              disabled={console.pendingAction === "viewer"}
+              onClick={() => void applyDisplaySettings()}
            >
-              Применить к профилю
+              {console.pendingAction === "viewer" ? "Применяем…" : "Применить к сцене"}
            </Button>
          </WindowFooterActions>
        }
      >
-        <div className="modal-stack">
-          <div className="modal-contract-note" data-tone="warning">
-            <Icon name="alert" />
-            <div>
-              <strong>Профиль визуализации подготовлен</strong>
-              <p>
-                Параметры уже собраны в продуктовой форме. Они начнут управлять компоновкой Rerun
-                после подключения адаптера потока и профиля; сейчас меняется только интерфейсный черновик.
-              </p>
-            </div>
-          </div>
-          <Inspector
-            defaultOpen={["points", "history", "scene"]}
-            sections={[
-              {
-                id: "points",
-                label: "Облако точек",
-                description: "Размер, атрибут и градиент",
-                group: "ВИЗУАЛЬНЫЙ ПРОФИЛЬ",
-                content: (
-                  <div className="inspector-control-stack">
-                    <RangeControl
-                      label="Размер точки"
-                      value={displayDraft.pointSize}
-                      min={0.5}
-                      max={12}
-                      step={0.5}
-                      formatValue={(value) => `${value.toFixed(1)} пкс`}
-                      onChange={(pointSize) => setDisplayDraft((current) => ({ ...current, pointSize }))}
+        <Inspector
+          defaultOpen={["points"]}
+          singleOpen
+          sections={[
+            {
+              id: "points",
+              label: "Облако точек",
+              description: "Размер и способ окрашивания",
+              content: (
+                <div className="inspector-control-stack">
+                  <RangeControl
+                    label="Размер точки"
+                    value={displayDraft.pointSize}
+                    min={0.5}
+                    max={12}
+                    step={0.5}
+                    formatValue={(value) => `${value.toFixed(1)} пкс`}
+                    onChange={(pointSize) => setDisplayDraft((current) => ({ ...current, pointSize }))}
+                  />
+                  <ControlRow label="Атрибут цвета">
+                    <Select
+                      variant="split"
+                      label="Атрибут цвета"
+                      value={displayDraft.colorMode}
+                      options={colorModeOptions}
+                      onChange={(colorMode) => setDisplayDraft((current) => ({ ...current, colorMode }))}
                    />
-                    <ControlRow label="Атрибут цвета" layout="stack">
-                      <Select
-                        label="Атрибут цвета"
-                        value={displayDraft.colorMode}
-                        options={colorModeOptions}
-                        onChange={(colorMode) => setDisplayDraft((current) => ({ ...current, colorMode }))}
+                  </ControlRow>
+                  <ControlRow label="Палитра">
+                    <Select
+                      variant="split"
+                      label="Палитра"
+                      value={displayDraft.palette}
+                      options={paletteOptions}
+                      onChange={(palette) => setDisplayDraft((current) => ({ ...current, palette }))}
+                    />
+                  </ControlRow>
+                  {displayDraft.palette === "custom" ? (
+                    <ControlRow label="Цвет точек">
+                      <ColorField
+                        label="Цвет точек"
+                        value={displayDraft.customColor}
+                        onChange={(customColor) => setDisplayDraft((current) => ({ ...current, customColor }))}
                      />
                    </ControlRow>
-                    <ControlRow label="Палитра" layout="stack">
-                      <Select
-                        label="Палитра"
-                        value={displayDraft.palette}
-                        options={paletteOptions}
-                        onChange={(palette) => setDisplayDraft((current) => ({ ...current, palette }))}
-                      />
-                    </ControlRow>
-                    {displayDraft.palette === "custom" ? (
-                      <ControlRow label="Цвет точек">
-                        <ColorField
-                          label="Цвет точек"
-                          value={displayDraft.customColor}
-                          onChange={(customColor) => setDisplayDraft((current) => ({ ...current, customColor }))}
-                        />
-                      </ControlRow>
-                    ) : null}
-                  </div>
-                ),
-              },
-              {
-                id: "history",
-                label: "Накопление и время",
-                description: "История облака и траектория",
-                group: "ВИЗУАЛЬНЫЙ ПРОФИЛЬ",
-                content: (
-                  <div className="inspector-control-stack">
-                    <RangeControl
-                      label="Окно накопления"
-                      value={displayDraft.accumulationSeconds}
-                      min={0}
-                      max={120}
-                      step={1}
-                      formatValue={(value) => (value === 0 ? "Только кадр" : `${value} с`)}
-                      onChange={(accumulationSeconds) => setDisplayDraft((current) => ({ ...current, accumulationSeconds }))}
-                    />
-                    <Switch
-                      checked={displayDraft.showTrajectory}
-                      label="Показывать траекторию"
-                      onChange={(showTrajectory) => setDisplayDraft((current) => ({ ...current, showTrajectory }))}
-                    />
-                  </div>
-                ),
-              },
-              {
-                id: "scene",
-                label: "Сцена",
-                description: "Сетка, подписи и области обзора камер",
-                group: "ВИЗУАЛЬНЫЙ ПРОФИЛЬ",
-                content: (
-                  <div className="inspector-control-stack">
-                    <Switch checked={displayDraft.showGrid} label="Сетка и оси" onChange={(showGrid) => setDisplayDraft((current) => ({ ...current, showGrid }))} />
-                    <Switch checked={displayDraft.showLabels} label="Подписи сущностей" onChange={(showLabels) => setDisplayDraft((current) => ({ ...current, showLabels }))} />
-                    <Switch checked={displayDraft.showCameraFrustums} label="Области обзора камер в 3D" onChange={(showCameraFrustums) => setDisplayDraft((current) => ({ ...current, showCameraFrustums }))} />
-                  </div>
-                ),
-              },
-            ]}
-          />
-        </div>
+                  ) : null}
+                </div>
+              ),
+            },
+            {
+              id: "history",
+              label: "Накопление и время",
+              description: "История облака и траектория",
+              content: (
+                <div className="inspector-control-stack">
+                  <RangeControl
+                    label="Окно накопления"
+                    value={displayDraft.accumulationSeconds}
+                    min={0}
+                    max={120}
+                    step={1}
+                    formatValue={(value) => (value === 0 ? "Только кадр" : `${value} с`)}
+                    onChange={(accumulationSeconds) => setDisplayDraft((current) => ({ ...current, accumulationSeconds }))}
+                  />
+                  <Checker
+                    checked={displayDraft.showTrajectory}
+                    label="Показывать траекторию"
+                    description="Линия пути устройства в координатах сцены"
+                    onChange={(showTrajectory) => setDisplayDraft((current) => ({ ...current, showTrajectory }))}
+                  />
+                </div>
+              ),
+            },
+            {
+              id: "scene",
+              label: "Окружение сцены",
+              description: "Сетка, подписи и камеры",
+              content: (
+                <div className="inspector-control-stack">
+                  <Checker checked={displayDraft.showGrid} label="Сетка и оси" onChange={(showGrid) => setDisplayDraft((current) => ({ ...current, showGrid }))} />
+                  <Checker checked={false} disabled label="Подписи сущностей" description="Появятся после подключения семантических сущностей" onChange={() => undefined} />
+                  <Checker checked={false} disabled label="Области обзора камер" description="Камерный канал пока не подключён" onChange={() => undefined} />
+                </div>
+              ),
+            },
+          ]}
+        />
      </Window>

      <Window
        open={layerInspectorOpen}
        title="Слои сцены"
-        subtitle="ДЕРЕВО СУЩНОСТЕЙ / ПЕРЕОПРЕДЕЛЕНИЯ"
+        subtitle="Сущности пространственной сцены"
        placement="end"
        draggable
-        onClose={() => setLayerInspectorOpen(false)}
+        closeOnBackdrop={false}
+        closeOnEscape={false}
+        lockBodyScroll={false}
+        trapFocus={false}
+        className="scene-tool-window scene-tool-window--layers"
+        data-scene-window="layers"
+        data-scene-active={activeSceneWindow === "layers" ? "true" : undefined}
+        onPointerDown={() => activateSceneWindow("layers")}
+        onClose={() => closeSceneWindow("layers")}
      >
        <div className="layer-inspector-intro">
-          <StatusBadge tone={sourceUrl ? "accent" : "neutral"}>
-            {sourceUrl ? "Источник назначен" : "Без источника"}
-          </StatusBadge>
+          <span className="scene-window-state">
+            <i className="api-dot" data-status={effectiveSourceUrl ? "online" : "checking"} aria-hidden="true" />
+            {effectiveSourceUrl ? "Источник назначен" : "Источник не назначен"}
+          </span>
          <p>Структура повторяет продуктовые сущности, а не внутренние панели визуального движка.</p>
        </div>
        <Inspector
-          defaultOpen={["geometry", "frames", "perception"]}
+          defaultOpen={["geometry"]}
+          singleOpen
          sections={[
            {
              id: "geometry",
              label: "Геометрия",
              description: "Облако точек и путь",
-              group: "СЦЕНА",
-              tone: "accent",
              content: (
                <div className="inspector-control-stack">
-                  <Switch checked={sceneSettings.showPoints} label="Облако точек" onChange={(showPoints) => setSceneSettings((current) => ({ ...current, showPoints }))} />
-                  <Switch checked={sceneSettings.showTrajectory} label="Траектория" onChange={(showTrajectory) => setSceneSettings((current) => ({ ...current, showTrajectory }))} />
+                  <Checker disabled={console.pendingAction === "viewer"} checked={sceneSettings.showPoints} label="Облако точек" description="Основной поток геометрии лидара" onChange={(showPoints) => void applyScenePatch({ showPoints })} />
+                  <Checker disabled={console.pendingAction === "viewer"} checked={sceneSettings.showTrajectory} label="Траектория" description="Положение и ориентация устройства во времени" onChange={(showTrajectory) => void applyScenePatch({ showTrajectory })} />
                </div>
              ),
            },
@ -481,11 +659,10 @@ export default function App() {
              id: "frames",
              label: "Координаты и камеры",
              description: "Преобразования и области обзора",
-              group: "СЦЕНА",
              content: (
                <div className="inspector-control-stack">
-                  <Switch checked={sceneSettings.showGrid} label="Сетка и оси" onChange={(showGrid) => setSceneSettings((current) => ({ ...current, showGrid }))} />
-                  <Switch checked={sceneSettings.showCameraFrustums} label="Области обзора камер в 3D" onChange={(showCameraFrustums) => setSceneSettings((current) => ({ ...current, showCameraFrustums }))} />
+                  <Checker disabled={console.pendingAction === "viewer"} checked={sceneSettings.showGrid} label="Сетка и оси" onChange={(showGrid) => void applyScenePatch({ showGrid })} />
+                  <Checker checked={false} disabled label="Области обзора камер" description="Камерный канал пока не подключён" onChange={() => undefined} />
                </div>
              ),
            },
@ -493,12 +670,11 @@ export default function App() {
              id: "perception",
              label: "Объекты и маски",
              description: "Ожидают внешние обработчики",
-              group: "СЦЕНА",
              content: (
-                <div className="layer-placeholder-list">
-                  <span><i />Рамки 2D / 3D<small>не подключено</small></span>
-                  <span><i />Маски сегментации<small>не подключено</small></span>
-                  <span><i />Ключевые точки / треки<small>не подключено</small></span>
+                <div className="inspector-control-stack">
+                  <Checker checked={false} disabled label="Рамки 2D и 3D" description="Внешний обработчик не подключён" onChange={() => undefined} />
+                  <Checker checked={false} disabled label="Маски сегментации" description="Внешний обработчик не подключён" onChange={() => undefined} />
+                  <Checker checked={false} disabled label="Ключевые точки и треки" description="Внешний обработчик не подключён" onChange={() => undefined} />
                </div>
              ),
            },
@ -511,10 +687,20 @@ export default function App() {
        title="Компоновка рабочей области"
        subtitle="КОМПОНОВКА / ЧЕРНОВИК"
        size="sm"
-        onClose={() => setLayoutWindowOpen(false)}
+        placement="end"
+        draggable
+        closeOnBackdrop={false}
+        closeOnEscape={false}
+        lockBodyScroll={false}
+        trapFocus={false}
+        className="scene-tool-window scene-tool-window--layout"
+        data-scene-window="layout"
+        data-scene-active={activeSceneWindow === "layout" ? "true" : undefined}
+        onPointerDown={() => activateSceneWindow("layout")}
+        onClose={() => closeSceneWindow("layout")}
        footer={
          <WindowFooterActions>
-            <Button onClick={() => setLayoutWindowOpen(false)}>Закрыть</Button>
+            <Button onClick={() => closeSceneWindow("layout")}>Закрыть</Button>
            <Button
              variant="primary"
              shape="pill"
--- a/apps/k1-viewer/src/api.ts
+++ b/apps/k1-viewer/src/api.ts
@ -30,10 +30,23 @@ export interface ConsoleState {
  k1_ip?: string | null;
  foxglove_ws_url?: string | null;
  foxglove_viewer_url?: string | null;
+  rerun_grpc_url?: string | null;
+  viewer_settings?: ViewerSettings | null;
  source_mode?: SourceMode | null;
  metrics?: K1Metrics;
 }

+export interface ViewerSettings {
+  point_size: number;
+  color_mode: "intensity" | "height" | "distance" | "rgb" | "class";
+  palette: "turbo" | "viridis" | "plasma" | "grayscale" | "custom";
+  custom_color: string;
+  accumulation_seconds: number;
+  show_points: boolean;
+  show_trajectory: boolean;
+  show_grid: boolean;
+}
+
 export interface HealthResponse {
  ok?: boolean;
  status?: string;
@ -174,6 +187,10 @@ export const api = {
  stopSession(): Promise<ConsoleState> {
    return postState("/api/session/stop");
  },
+
+  updateViewerSettings(body: ViewerSettings): Promise<ConsoleState> {
+    return postState("/api/viewer/settings", body);
+  },
 };

 export type EventSocketStatus = "connecting" | "open" | "closed" | "error";
--- a/apps/k1-viewer/src/components/LandingStage.tsx
+++ b/apps/k1-viewer/src/components/LandingStage.tsx
@ -23,19 +23,6 @@ export function LandingStage({
 }: LandingStageProps) {
  return (
    <section className="landing-stage" data-root={root?.id ?? "home"}>
-      <div className="landing-stage__field" aria-hidden="true">
-        <span className="landing-stage__grid" />
-        <span className="landing-stage__orbit landing-stage__orbit--one" />
-        <span className="landing-stage__orbit landing-stage__orbit--two" />
-        <span className="landing-stage__orbit landing-stage__orbit--three" />
-        <span className="landing-stage__sweep" />
-        <span className="landing-stage__node landing-stage__node--one" />
-        <span className="landing-stage__node landing-stage__node--two" />
-        <span className="landing-stage__node landing-stage__node--three" />
-        <span className="landing-stage__node landing-stage__node--four" />
-      </div>
-      <div className="landing-stage__shade" />
-
      <div className="landing-stage__copy">
        <span className="section-eyebrow">{root?.eyebrow ?? "NODE.DC / ПУНКТ УПРАВЛЕНИЯ"}</span>
        <h1>{root?.title ?? "Пункт управления"}</h1>
@ -44,7 +31,7 @@ export function LandingStage({
            "Наблюдение, планирование и корректировка миссий в одной модульной рабочей области."}
        </p>
        <div className="landing-stage__actions">
-          <Button variant="accent" icon={<Icon name="globe" />} onClick={onOpenObservation}>
+          <Button variant="primary" icon={<Icon name="globe" />} onClick={onOpenObservation}>
            Пространственная сцена
          </Button>
          <Button variant="secondary" icon={<Icon name="network" />} onClick={onOpenDevice}>
--- a/apps/k1-viewer/src/components/RerunViewport.tsx
+++ b/apps/k1-viewer/src/components/RerunViewport.tsx
@ -32,7 +32,6 @@ export function RerunViewport({
    }

    let disposed = false;
-    let started = false;
    let stopViewer: (() => void) | undefined;
    const unsubscribers: Array<() => void> = [];
    setStatus("loading");
@ -41,7 +40,17 @@ export function RerunViewport({
    void import("@rerun-io/web-viewer")
      .then(async ({ WebViewer }) => {
        const viewer = new WebViewer();
-        stopViewer = () => viewer.stop();
+        stopViewer = () => {
+          // Remove the gRPC receiver explicitly before tearing down WASM. This
+          // closes the browser-side stream promptly so the local SDK server can
+          // release its port before the next device session starts.
+          try {
+            viewer.close(normalizedSource);
+          } catch {
+            // The viewer can already be stopped after a startup failure.
+          }
+          viewer.stop();
+        };

        await viewer.start(
          normalizedSource,
@ -56,10 +65,8 @@ export function RerunViewport({
          },
          null,
        );
-        started = true;
-
        if (disposed) {
-          viewer.stop();
+          stopViewer();
          return;
        }

@ -86,9 +93,9 @@ export function RerunViewport({
        setStatus("ready");
        onStatusChange?.("ready");
      })
-      .catch((error: unknown) => {
+      .catch(() => {
        if (disposed) return;
-        const message = error instanceof Error ? error.message : "Не удалось запустить визуальный движок.";
+        const message = "Не удалось запустить встроенный визуализатор.";
        setStatus("error");
        onStatusChange?.("error", message);
      });
@ -96,7 +103,7 @@ export function RerunViewport({
    return () => {
      disposed = true;
      unsubscribers.forEach((unsubscribe) => unsubscribe());
-      if (started) stopViewer?.();
+      stopViewer?.();
      onSelectionChange?.(null);
    };
  }, [onSelectionChange, onStatusChange, sourceUrl]);
--- a/apps/k1-viewer/src/messages.ts
+++ b/apps/k1-viewer/src/messages.ts
@ -13,8 +13,18 @@ const runtimeMessageReplacements: Array<[RegExp, string]> = [
 export function localizeRuntimeMessage(message: string | null | undefined): string | null {
  if (!message) return null;

-  return runtimeMessageReplacements.reduce(
+  const localized = runtimeMessageReplacements.reduce(
    (localized, [pattern, replacement]) => localized.replace(pattern, replacement),
    message,
  );
+
+  const withoutTechnicalTerms = localized.replace(
+    /\b(?:API|BLE|Bluetooth|gRPC|IP|JSON|K1MQTT|MQTT|Rerun|RRD|TSV|UUID|Wi-Fi)\b/gi,
+    "",
+  );
+  if (/[A-Za-z]{3,}/.test(withoutTechnicalTerms)) {
+    return "Операция не выполнена. Технические подробности сохранены в журнале сервера.";
+  }
+
+  return localized;
 }
--- a/apps/k1-viewer/src/presentation.ts
+++ b/apps/k1-viewer/src/presentation.ts
@ -67,11 +67,10 @@ export function pipelineLatency(metrics: K1Metrics | undefined): number | null {

  const segments = [
    finiteMetric(metrics.mqtt_to_decode_ms),
-    finiteMetric(metrics.decode_ms),
    finiteMetric(metrics.publish_ms),
  ].filter((value): value is number => value !== null);

-  return segments.length ? segments.reduce((total, value) => total + value, 0) : null;
+  return segments.length === 2 ? segments.reduce((total, value) => total + value, 0) : null;
 }

 export function formatNumber(value: number | null, digits = 1): string {
--- a/apps/k1-viewer/src/productModel.ts
+++ b/apps/k1-viewer/src/productModel.ts
@ -393,7 +393,7 @@ export const workspaces: WorkspaceDefinition[] = [
        title: "Временные представления",
        description: "Встроенные классы для чисел, состояний и таблиц.",
        capabilities: [
-          active("Метрики потока в реальном времени", "Задержка, частота кадров, число точек и пропуски предпросмотра."),
+          active("Метрики потока в реальном времени", "Время до Rerun SDK, частота кадров, число точек и пропуски предпросмотра."),
          contract("Временные ряды (TimeSeriesView)", "Скалярные серии, несколько линий и диапазоны."),
          contract("Шкала состояний (StateTimelineView)", "Переходы режимов, ошибки и статусы подсистем."),
          contract("Таблица данных (DataframeView)", "Табличная диагностика и атрибуты сущностей."),
--- a/apps/k1-viewer/src/styles/base.css
+++ b/apps/k1-viewer/src/styles/base.css
@ -17,6 +17,19 @@ body {
  margin: 0;
 }

+#root[data-nodedc-theme="dark"],
+body {
+  --nodedc-accent-rgb: 247 248 244;
+  --nodedc-on-accent-rgb: 8 8 10;
+  --nodedc-focus-surface: rgb(255 255 255 / 0.09);
+  --nodedc-primary-action-bg: rgb(247 248 244 / 0.96);
+  --nodedc-primary-action-hover: rgb(255 255 255);
+  --nodedc-primary-action-color: rgb(8 8 10 / 0.96);
+  --nodedc-primary-action-shadow: none;
+  --nodedc-modal-surface: rgb(15 15 17 / 0.97);
+  --nodedc-floating-surface: rgb(15 15 17 / 0.98);
+}
+
 button,
 input,
 textarea,
@ -32,16 +45,100 @@ code {
  font-family: "SFMono-Regular", Consolas, "Liberation Mono", monospace;
 }

-.control-station {
+.control-station,
+body {
  --station-panel: #151517;
  --station-panel-soft: #0d0d0f;
  --station-stage: #08090b;
  --station-hairline: rgb(255 255 255 / 0.08);
  --station-hairline-strong: rgb(255 255 255 / 0.13);
-  --station-accent-soft: rgb(var(--nodedc-accent-rgb) / 0.11);
-  --station-success-soft: rgb(var(--nodedc-success-rgb) / 0.1);
-  --station-warning-soft: rgb(var(--nodedc-warning-rgb) / 0.1);
-  --station-danger-soft: rgb(var(--nodedc-danger-rgb) / 0.1);
+  --station-accent-soft: rgb(255 255 255 / 0.045);
+  --station-success-soft: rgb(255 255 255 / 0.045);
+  --station-warning-soft: rgb(255 255 255 / 0.045);
+  --station-danger-soft: rgb(255 255 255 / 0.045);
+}
+
+.nodedc-button[data-variant="accent"] {
+  --nodedc-button-bg: var(--nodedc-primary-action-bg);
+  --nodedc-button-color: var(--nodedc-primary-action-color);
+}
+
+.nodedc-button[data-variant="accent"]:hover:not(:disabled) {
+  background: var(--nodedc-primary-action-hover);
+}
+
+.nodedc-button[data-variant="danger"] {
+  color: var(--nodedc-text-primary);
+}
+
+.nodedc-button[data-variant="danger"]:hover:not(:disabled) {
+  background: var(--nodedc-glass-control-hover);
+}
+
+.nodedc-status {
+  min-height: auto;
+  justify-content: flex-start;
+  gap: 0.42rem;
+  border-radius: 0;
+  background: transparent;
+  color: var(--nodedc-text-primary);
+  padding: 0;
+  font-size: var(--nodedc-font-size-sm);
+  font-weight: var(--nodedc-font-weight-medium);
+}
+
+.nodedc-status::before {
+  width: 0.42rem;
+  height: 0.42rem;
+  flex: 0 0 0.42rem;
+  border-radius: 50%;
+  background: var(--nodedc-text-muted);
+  content: "";
+}
+
+.nodedc-status[data-tone="success"],
+.nodedc-status[data-tone="warning"],
+.nodedc-status[data-tone="danger"],
+.nodedc-status[data-tone="accent"] {
+  background: transparent;
+  color: var(--nodedc-text-primary);
+}
+
+.nodedc-status[data-tone="success"]::before {
+  background: rgb(var(--nodedc-success-rgb));
+}
+
+.nodedc-status[data-tone="warning"]::before {
+  background: rgb(var(--nodedc-warning-rgb));
+}
+
+.nodedc-status[data-tone="danger"]::before {
+  background: rgb(var(--nodedc-danger-rgb));
+}
+
+.nodedc-status[data-tone="accent"]::before {
+  background: var(--nodedc-text-primary);
+}
+
+.nodedc-inspector__section-trigger[data-open="true"],
+.nodedc-inspector__section-trigger[data-active="true"],
+.nodedc-inspector__section-trigger[data-tone="accent"] {
+  background: var(--nodedc-glass-control-hover);
+  color: var(--nodedc-text-primary);
+}
+
+.nodedc-inspector__section-trigger[data-open="true"] .nodedc-inspector__section-description,
+.nodedc-inspector__section-trigger[data-active="true"] .nodedc-inspector__section-description,
+.nodedc-inspector__section-trigger[data-tone="accent"] .nodedc-inspector__section-description {
+  color: var(--nodedc-text-muted);
+}
+
+.nodedc-glass-material::before {
+  display: none;
+}
+
+.nodedc-header__avatar {
+  background: rgb(226 226 226);
 }

 .control-station .nodedc-application-panel__body {
@ -146,9 +243,7 @@ code {
 }

 .metric-card[data-featured="true"] {
-  background:
-    radial-gradient(circle at 90% 0%, rgb(var(--nodedc-accent-rgb) / 0.16), transparent 44%),
-    var(--station-panel);
+  background: var(--station-panel);
 }

 .metric-card__reading {
@ -194,15 +289,15 @@ code {
 }

 .modal-contract-note[data-tone="accent"] {
-  background: var(--station-accent-soft);
+  background: rgb(255 255 255 / 0.045);
 }

 .modal-contract-note[data-tone="warning"] {
-  background: var(--station-warning-soft);
+  background: rgb(255 255 255 / 0.045);
 }

 .modal-contract-note[data-tone="success"] {
-  background: var(--station-success-soft);
+  background: rgb(255 255 255 / 0.045);
 }

 .modal-contract-note > svg {
--- a/apps/k1-viewer/src/styles/device.css
+++ b/apps/k1-viewer/src/styles/device.css
@ -25,14 +25,18 @@
  align-items: center;
  gap: 0.9rem;
  border-radius: 1rem;
-  background: var(--station-danger-soft);
-  color: rgb(var(--nodedc-danger-rgb));
+  background: rgb(255 255 255 / 0.045);
+  color: var(--nodedc-text-primary);
  padding: 0.85rem 1rem;
 }

-.error-banner > svg {
+.error-banner__dot {
+  width: 0.46rem;
+  height: 0.46rem;
  align-self: start;
-  margin-top: 0.12rem;
+  margin-top: 0.28rem;
+  border-radius: 50%;
+  background: rgb(var(--nodedc-danger-rgb));
 }

 .error-banner strong,
@ -159,8 +163,8 @@
 }

 .device-row[data-selected="true"] {
-  background: var(--station-accent-soft);
-  box-shadow: inset 0 0 0 1px rgb(var(--nodedc-accent-rgb) / 0.18);
+  background: rgb(255 255 255 / 0.065);
+  box-shadow: none;
 }

 .device-row__identity,
@ -191,10 +195,7 @@

 .device-row__name small {
  flex: 0 0 auto;
-  border-radius: 999px;
-  background: var(--station-accent-soft);
-  color: rgb(var(--nodedc-accent-rgb));
-  padding: 0.18rem 0.38rem;
+  color: var(--nodedc-text-muted);
  font-size: 0.47rem;
  font-weight: 750;
  letter-spacing: 0.04em;
@ -223,12 +224,10 @@
  flex: 0 0 0.58rem;
  border-radius: 50%;
  background: var(--nodedc-text-muted);
-  box-shadow: 0 0 0 0.24rem rgb(255 255 255 / 0.035);
 }

 .device-row[data-compatible="true"] .device-row__signal {
  background: rgb(var(--nodedc-success-rgb));
-  box-shadow: 0 0 0 0.24rem var(--station-success-soft);
 }

 .device-row__action > span {
@ -388,10 +387,7 @@
  gap: 0.2rem;
  margin-top: 1rem;
  border-radius: 0.85rem;
-  background:
-    linear-gradient(to top, rgb(255 255 255 / 0.035) 1px, transparent 1px),
-    rgb(255 255 255 / 0.018);
-  background-size: 100% 25%;
+  background: rgb(255 255 255 / 0.018);
  padding: 0.7rem;
 }

@ -399,7 +395,7 @@
  min-width: 0.16rem;
  flex: 1 1 0;
  border-radius: 999px 999px 0.12rem 0.12rem;
-  background: linear-gradient(to top, rgb(var(--nodedc-accent-rgb) / 0.35), rgb(var(--nodedc-accent-rgb)));
+  background: var(--nodedc-text-primary);
 }

 .latency-trace p {
--- a/apps/k1-viewer/src/styles/responsive.css
+++ b/apps/k1-viewer/src/styles/responsive.css
@ -120,15 +120,6 @@
    font-size: clamp(2.8rem, 14vw, 5rem);
  }

-  .landing-stage__field {
-    opacity: 0.62;
-  }
-
-  .landing-stage__orbit,
-  .landing-stage__sweep {
-    left: 74%;
-  }
-
  .landing-stage__status {
    top: auto;
    right: 1rem;
@ -235,11 +226,12 @@
    flex-direction: column;
  }

-  .error-banner > svg {
-    display: none;
+  .error-banner {
+    grid-template-columns: auto minmax(0, 1fr);
  }

  .error-banner__actions {
+    grid-column: 2;
    justify-content: flex-end;
  }

@ -252,7 +244,7 @@
    grid-template-columns: auto minmax(0, 1fr);
  }

-  .feature-row > .nodedc-status-badge {
+  .feature-row > .nodedc-status {
    grid-column: 2;
    justify-self: start;
  }
--- a/apps/k1-viewer/src/styles/scene-windows.css
+++ b/apps/k1-viewer/src/styles/scene-windows.css
@ -0,0 +1,83 @@
+.scene-tool-window {
+  --scene-tool-window-top: 5.75rem;
+  --scene-tool-window-right: 27rem;
+  position: fixed;
+  top: var(--scene-tool-window-top);
+  right: var(--scene-tool-window-right);
+  max-height: calc(100vh - var(--scene-tool-window-top) - 1.5rem);
+}
+
+.scene-tool-window--display {
+  --scene-tool-window-top: 7.75rem;
+  --scene-tool-window-right: 28.5rem;
+}
+
+.scene-tool-window--layers {
+  --scene-tool-window-top: 9.75rem;
+  --scene-tool-window-right: 30rem;
+}
+
+.scene-tool-window--layout {
+  --scene-tool-window-top: 11.75rem;
+  --scene-tool-window-right: 31.5rem;
+}
+
+.nodedc-overlay:has(> .scene-tool-window[data-scene-active="true"]) {
+  z-index: calc(var(--nodedc-layer-overlay) + 1);
+}
+
+.nodedc-overlay[data-placement="center"] {
+  z-index: calc(var(--nodedc-layer-overlay) + 2);
+}
+
+.scene-window-state {
+  display: inline-flex;
+  min-width: 0;
+  align-items: center;
+  gap: 0.5rem;
+  color: var(--nodedc-text-secondary);
+  font-size: var(--nodedc-font-size-sm);
+  line-height: 1.3;
+}
+
+.scene-window-code {
+  display: block;
+  overflow: hidden;
+  border-radius: var(--nodedc-radius-control-compact);
+  background: var(--nodedc-field-bg);
+  color: var(--nodedc-text-secondary);
+  padding: 0.72rem 0.8rem;
+  font-size: var(--nodedc-font-size-xs);
+  line-height: 1.35;
+  text-overflow: ellipsis;
+  white-space: nowrap;
+}
+
+.scene-window-note {
+  margin: 0;
+  color: var(--nodedc-text-muted);
+  font-size: var(--nodedc-font-size-xs);
+  line-height: 1.5;
+}
+
+@media (max-width: 44rem) {
+  .scene-tool-window,
+  .scene-tool-window--display,
+  .scene-tool-window--layers,
+  .scene-tool-window--layout {
+    --scene-tool-window-top: 4.75rem;
+    --scene-tool-window-right: 0.875rem;
+    max-height: calc(100vh - 5.625rem);
+  }
+}
+
+@media (min-width: 44.01rem) and (max-width: 70rem) {
+  .scene-tool-window,
+  .scene-tool-window--display,
+  .scene-tool-window--layers,
+  .scene-tool-window--layout {
+    --scene-tool-window-top: 13.5rem;
+    --scene-tool-window-right: 1.5rem;
+    max-height: calc(100vh - 15rem);
+  }
+}
--- a/apps/k1-viewer/src/styles/shell.css
+++ b/apps/k1-viewer/src/styles/shell.css
@ -18,7 +18,6 @@

 .api-dot[data-status="online"] {
  background: rgb(var(--nodedc-success-rgb));
-  box-shadow: 0 0 0 0.28rem rgb(var(--nodedc-success-rgb) / 0.09);
 }

 .api-dot[data-status="checking"],
@ -31,123 +30,12 @@
 }

 .landing-stage {
-  --landing-accent: var(--nodedc-accent-rgb);
  position: relative;
  min-width: 0;
  min-height: 0;
  overflow: hidden;
  border-radius: var(--nodedc-radius-card);
-  background:
-    linear-gradient(115deg, rgb(0 0 0 / 0.08), rgb(0 0 0 / 0.5)),
-    var(--station-stage);
-  box-shadow: inset 0 1px 0 rgb(255 255 255 / 0.04);
-}
-
-.landing-stage[data-root="center"] { --landing-accent: 84 177 255; }
-.landing-stage[data-root="fleet"] { --landing-accent: 81 215 179; }
-.landing-stage[data-root="observation"] { --landing-accent: 255 79 163; }
-.landing-stage[data-root="missions"] { --landing-accent: 151 104 255; }
-.landing-stage[data-root="data"] { --landing-accent: 93 192 255; }
-.landing-stage[data-root="system"] { --landing-accent: 242 175 76; }
-
-.landing-stage__field,
-.landing-stage__shade,
-.landing-stage__grid,
-.landing-stage__orbit,
-.landing-stage__sweep {
-  position: absolute;
-  inset: 0;
-}
-
-.landing-stage__field {
-  overflow: hidden;
-  background:
-    radial-gradient(circle at 68% 42%, rgb(var(--landing-accent) / 0.1), transparent 24%),
-    radial-gradient(circle at 76% 48%, rgb(255 255 255 / 0.035), transparent 42%);
-}
-
-.landing-stage__grid {
-  inset: -40% -25% -60% 25%;
-  opacity: 0.42;
-  background-image:
-    linear-gradient(rgb(255 255 255 / 0.055) 1px, transparent 1px),
-    linear-gradient(90deg, rgb(255 255 255 / 0.055) 1px, transparent 1px);
-  background-position: center;
-  background-size: 4.2rem 4.2rem;
-  mask-image: radial-gradient(circle at center, #000 0%, transparent 68%);
-  transform: perspective(42rem) rotateX(62deg) rotateZ(-8deg) scale(1.3) translateY(15%);
-}
-
-.landing-stage__orbit {
-  top: 50%;
-  left: 69%;
-  border: 1px solid rgb(var(--landing-accent) / 0.2);
-  border-radius: 50%;
-  transform: translate(-50%, -50%);
-}
-
-.landing-stage__orbit--one {
-  width: min(22vw, 24rem);
-  height: min(22vw, 24rem);
-  animation: station-orbit 18s linear infinite;
-}
-
-.landing-stage__orbit--two {
-  width: min(34vw, 38rem);
-  height: min(34vw, 38rem);
-  border-color: rgb(var(--landing-accent) / 0.12);
-  animation: station-orbit-reverse 26s linear infinite;
-}
-
-.landing-stage__orbit--three {
-  width: min(49vw, 56rem);
-  height: min(49vw, 56rem);
-  border-color: rgb(255 255 255 / 0.06);
-}
-
-.landing-stage__orbit::before,
-.landing-stage__orbit::after {
-  position: absolute;
-  width: 0.36rem;
-  height: 0.36rem;
-  border-radius: 50%;
-  background: rgb(var(--landing-accent));
-  box-shadow: 0 0 1.1rem rgb(var(--landing-accent) / 0.6);
-  content: "";
-}
-
-.landing-stage__orbit::before { top: -0.18rem; left: 50%; }
-.landing-stage__orbit::after { right: 11%; bottom: 14%; opacity: 0.55; }
-
-.landing-stage__sweep {
-  left: 69%;
-  width: min(32vw, 34rem);
-  height: min(32vw, 34rem);
-  margin: auto;
-  border-radius: 50%;
-  background: conic-gradient(from 220deg, transparent 0deg 318deg, rgb(var(--landing-accent) / 0.14) 344deg, transparent 360deg);
-  transform: translateX(-50%);
-  animation: station-sweep 7s linear infinite;
-}
-
-.landing-stage__node {
-  position: absolute;
-  width: 0.48rem;
-  height: 0.48rem;
-  border-radius: 50%;
-  background: rgb(var(--landing-accent));
-  box-shadow: 0 0 1.3rem rgb(var(--landing-accent) / 0.85);
-}
-
-.landing-stage__node--one { top: 29%; left: 62%; }
-.landing-stage__node--two { top: 42%; left: 78%; animation: station-pulse 3.2s ease-in-out infinite; }
-.landing-stage__node--three { top: 61%; left: 69%; animation: station-pulse 4.1s ease-in-out infinite 0.8s; }
-.landing-stage__node--four { top: 52%; left: 87%; animation: station-pulse 3.6s ease-in-out infinite 1.4s; }
-
-.landing-stage__shade {
-  background:
-    linear-gradient(90deg, rgb(5 5 6 / 0.96) 0%, rgb(5 5 6 / 0.76) 34%, transparent 67%),
-    linear-gradient(0deg, rgb(5 5 6 / 0.86) 0%, transparent 28%);
+  background: var(--station-stage);
 }

 .landing-stage__copy {
@ -226,28 +114,3 @@
  font-weight: 780;
  letter-spacing: 0.12em;
 }
-
-@keyframes station-orbit {
-  to { transform: translate(-50%, -50%) rotate(360deg); }
-}
-
-@keyframes station-orbit-reverse {
-  to { transform: translate(-50%, -50%) rotate(-360deg); }
-}
-
-@keyframes station-sweep {
-  to { transform: translateX(-50%) rotate(360deg); }
-}
-
-@keyframes station-pulse {
-  0%, 100% { opacity: 0.34; transform: scale(0.75); }
-  50% { opacity: 1; transform: scale(1.2); }
-}
-
-@media (prefers-reduced-motion: reduce) {
-  .landing-stage__orbit,
-  .landing-stage__sweep,
-  .landing-stage__node {
-    animation: none;
-  }
-}
--- a/apps/k1-viewer/src/styles/spatial.css
+++ b/apps/k1-viewer/src/styles/spatial.css
@ -51,6 +51,11 @@
  height: 100% !important;
 }

+.rerun-viewport:is([data-status="loading"], [data-status="error"])
+  .rerun-viewport__canvas > div {
+  visibility: hidden;
+}
+
 .rerun-viewport__notice {
  position: absolute;
  top: 50%;
@ -82,7 +87,7 @@
 }

 .rerun-viewport__notice--error {
-  background: rgb(var(--nodedc-danger-rgb) / 0.12);
+  background: rgb(10 11 14 / 0.9);
 }

 .busy-indicator {
@ -90,7 +95,7 @@
  height: 1rem;
  flex: 0 0 1rem;
  border: 2px solid rgb(255 255 255 / 0.12);
-  border-top-color: rgb(var(--nodedc-accent-rgb));
+  border-top-color: var(--nodedc-text-primary);
  border-radius: 50%;
  animation: viewer-spin 900ms linear infinite;
 }
@ -103,26 +108,11 @@
  position: absolute;
  inset: 0;
  overflow: hidden;
-  background:
-    radial-gradient(circle at 68% 41%, rgb(var(--nodedc-accent-rgb) / 0.075), transparent 28%),
-    linear-gradient(125deg, #08090c, #040508);
+  background: #06070a;
 }

 .empty-spatial-stage__grid {
-  position: absolute;
-  inset: -25% -15% -85%;
-  opacity: 0;
-  background-image:
-    linear-gradient(rgb(255 255 255 / 0.07) 1px, transparent 1px),
-    linear-gradient(90deg, rgb(255 255 255 / 0.07) 1px, transparent 1px);
-  background-position: center;
-  background-size: 3.7rem 3.7rem;
-  mask-image: radial-gradient(circle at center, #000 0%, transparent 70%);
-  transform: perspective(40rem) rotateX(66deg) rotateZ(-5deg) scale(1.45) translateY(8%);
-}
-
-.empty-spatial-stage[data-grid="true"] .empty-spatial-stage__grid {
-  opacity: 0.52;
+  display: none;
 }

 .spatial-axis {
@ -150,9 +140,9 @@
 .spatial-axis::before { transform: rotate(-24deg); }
 .spatial-axis::after { transform: rotate(-90deg); }
 .spatial-axis span { position: absolute; }
-.spatial-axis span[data-axis="x"] { right: 0; bottom: 0; color: #ff6a7a; }
-.spatial-axis span[data-axis="y"] { top: 0; left: 0.55rem; color: #75d98a; }
-.spatial-axis span[data-axis="z"] { right: 0.55rem; bottom: 2.2rem; color: #67a9ff; }
+.spatial-axis span[data-axis="x"] { right: 0; bottom: 0; color: var(--nodedc-text-muted); }
+.spatial-axis span[data-axis="y"] { top: 0; left: 0.55rem; color: var(--nodedc-text-muted); }
+.spatial-axis span[data-axis="z"] { right: 0.55rem; bottom: 2.2rem; color: var(--nodedc-text-muted); }

 .empty-spatial-stage__message {
  position: absolute;
@ -256,7 +246,7 @@
  transform: translate(-50%, 5.2rem);
 }

-.scene-adapter-note > svg { flex: 0 0 auto; color: rgb(var(--nodedc-warning-rgb)); }
+.scene-adapter-note > svg { flex: 0 0 auto; color: var(--nodedc-text-secondary); }

 .scene-selection {
  right: 0.85rem;
@ -296,24 +286,39 @@
  display: block;
  height: 100%;
  border-radius: inherit;
-  background: rgb(var(--nodedc-accent-rgb));
+  background: var(--nodedc-text-primary);
 }

 .scene-timeline__track[data-disabled="true"] { opacity: 0.46; }
 .scene-timeline code { color: var(--nodedc-text-muted); font-size: 0.57rem; }

 .scene-timeline__follow {
+  display: inline-flex;
+  align-items: center;
+  gap: 0.38rem;
  border-radius: var(--nodedc-radius-circle);
-  background: rgb(255 255 255 / 0.055);
+  background: transparent;
  color: var(--nodedc-text-muted);
  padding: 0.3rem 0.45rem;
  font-size: 0.52rem;
  font-weight: 820;
 }

+.scene-timeline__follow::before {
+  width: 0.4rem;
+  height: 0.4rem;
+  border-radius: 50%;
+  background: var(--nodedc-text-muted);
+  content: "";
+}
+
 .scene-timeline__follow[data-active="true"] {
-  background: var(--station-success-soft);
-  color: rgb(var(--nodedc-success-rgb));
+  background: transparent;
+  color: var(--nodedc-text-primary);
+}
+
+.scene-timeline__follow[data-active="true"]::before {
+  background: rgb(var(--nodedc-success-rgb));
 }

 .spatial-contract-strip {
@ -339,7 +344,7 @@
  background: var(--nodedc-text-muted);
 }

-.spatial-contract-strip i[data-state="ready"] { background: rgb(var(--nodedc-accent-rgb)); }
+.spatial-contract-strip i[data-state="ready"] { background: var(--nodedc-text-primary); }
 .spatial-contract-strip i[data-state="contract"] { background: rgb(var(--nodedc-warning-rgb)); }

@media (prefers-reduced-motion: reduce) {
--- a/apps/k1-viewer/src/styles/workspaces.css
+++ b/apps/k1-viewer/src/styles/workspaces.css
@ -64,17 +64,14 @@

 .feature-row[data-status="active"] .feature-row__mark {
  background: rgb(var(--nodedc-success-rgb));
-  box-shadow: 0 0 0 0.25rem var(--station-success-soft);
 }

 .feature-row[data-status="ready"] .feature-row__mark {
-  background: rgb(var(--nodedc-accent-rgb));
-  box-shadow: 0 0 0 0.25rem var(--station-accent-soft);
+  background: var(--nodedc-text-primary);
 }

 .feature-row[data-status="contract"] .feature-row__mark {
  background: rgb(var(--nodedc-warning-rgb));
-  box-shadow: 0 0 0 0.25rem var(--station-warning-soft);
 }

 .feature-row strong,
@ -149,6 +146,7 @@
 }

 .pipeline-strip > div {
+  position: relative;
  display: grid;
  min-width: 0;
  min-height: 6rem;
@ -159,12 +157,23 @@
  padding: 0.8rem;
 }

-.pipeline-strip > div[data-state="ready"] {
-  background: var(--station-success-soft);
+.pipeline-strip > div::before {
+  position: absolute;
+  top: 0.7rem;
+  right: 0.7rem;
+  width: 0.42rem;
+  height: 0.42rem;
+  border-radius: 50%;
+  background: var(--nodedc-text-muted);
+  content: "";
 }

-.pipeline-strip > div[data-state="contract"] {
-  background: var(--station-warning-soft);
+.pipeline-strip > div[data-state="ready"]::before {
+  background: rgb(var(--nodedc-success-rgb));
+}
+
+.pipeline-strip > div[data-state="contract"]::before {
+  background: rgb(var(--nodedc-warning-rgb));
 }

 .pipeline-strip > svg {
@ -271,12 +280,7 @@
 .camera-slot__grid {
  position: absolute;
  inset: 0;
-  opacity: 0.22;
-  background-image:
-    linear-gradient(rgb(255 255 255 / 0.05) 1px, transparent 1px),
-    linear-gradient(90deg, rgb(255 255 255 / 0.05) 1px, transparent 1px);
-  background-size: 3rem 3rem;
-  mask-image: radial-gradient(circle at center, #000, transparent 77%);
+  background: rgb(255 255 255 / 0.012);
 }

 .camera-slot header,
@ -342,9 +346,7 @@
  min-height: 30rem;
  overflow: hidden;
  border-radius: 1rem;
-  background:
-    radial-gradient(circle at 72% 38%, rgb(var(--nodedc-accent-rgb) / 0.08), transparent 28%),
-    #0a0b0d;
+  background: #0a0b0d;
  box-shadow: inset 0 0 0 1px var(--station-hairline);
 }

@ -355,11 +357,7 @@
 }

 .map-canvas__grid {
-  opacity: 0.45;
-  background-image:
-    linear-gradient(rgb(255 255 255 / 0.045) 1px, transparent 1px),
-    linear-gradient(90deg, rgb(255 255 255 / 0.045) 1px, transparent 1px);
-  background-size: 2.5rem 2.5rem;
+  background: rgb(255 255 255 / 0.012);
 }

 .map-canvas__contours span {
@ -383,15 +381,14 @@

 .map-canvas svg path {
  fill: none;
-  stroke: rgb(var(--nodedc-accent-rgb));
+  stroke: var(--nodedc-text-secondary);
  stroke-linecap: round;
  stroke-width: 3;
-  filter: drop-shadow(0 0 8px rgb(var(--nodedc-accent-rgb) / 0.34));
 }

 .map-canvas svg circle {
  fill: #0a0b0d;
-  stroke: rgb(var(--nodedc-accent-rgb));
+  stroke: var(--nodedc-text-secondary);
  stroke-width: 4;
 }

@ -448,7 +445,7 @@
 }

 .layer-summary-list > div > span[data-tone="cyan"] { background: #35d7c1; }
-.layer-summary-list > div > span[data-tone="violet"] { background: #9a72ff; }
+.layer-summary-list > div > span[data-tone="violet"] { background: var(--nodedc-text-primary); }
 .layer-summary-list > div > span[data-tone="green"] { background: #a6dc74; }
 .layer-summary-list > div > span[data-tone="orange"] { background: #f2af4c; }

@ -529,8 +526,7 @@
  width: 0.6rem;
  height: 0.6rem;
  border-radius: 50%;
-  background: rgb(var(--nodedc-accent-rgb));
-  box-shadow: 0 0 0 0.26rem var(--station-accent-soft);
+  background: var(--nodedc-text-primary);
  transform: translate(-50%, -50%);
 }

--- a/apps/k1-viewer/src/useK1Console.ts
+++ b/apps/k1-viewer/src/useK1Console.ts
@ -9,11 +9,12 @@ import {
  type EventSocketStatus,
  type LiveRequest,
  type ReplayRequest,
+  type ViewerSettings,
 } from "./api";
 import { localizeRuntimeMessage } from "./messages";

 export type BackendStatus = "checking" | "online" | "degraded" | "offline";
-export type PendingAction = "scan" | "connect" | "live" | "replay" | "stop";
+export type PendingAction = "scan" | "connect" | "live" | "replay" | "stop" | "viewer";

 function messageFor(error: unknown): string {
  if (error instanceof ApiError) {
@ -26,6 +27,7 @@ function messageFor(error: unknown): string {
 }

 function measuredLatency(state: ConsoleState | null): number | null {
+  if (state?.source_mode !== "live") return null;
  const metrics = state?.metrics;
  if (!metrics) return null;

@ -34,11 +36,10 @@ function measuredLatency(state: ConsoleState | null): number | null {

  const segments = [
    metrics.mqtt_to_decode_ms,
-    metrics.decode_ms,
    metrics.publish_ms,
  ].filter((value): value is number => typeof value === "number" && Number.isFinite(value));

-  return segments.length ? segments.reduce((total, value) => total + value, 0) : null;
+  return segments.length === 2 ? segments.reduce((total, value) => total + value, 0) : null;
 }

 export function useK1Console() {
@ -130,6 +131,11 @@ export function useK1Console() {
    [run],
  );

+  const updateViewerSettings = useCallback(
+    (request: ViewerSettings) => run("viewer", () => api.updateViewerSettings(request)),
+    [run],
+  );
+
  useEffect(() => {
    mounted.current = true;
    void refresh(true);
@ -171,7 +177,10 @@ export function useK1Console() {

  useEffect(() => {
    const latency = measuredLatency(state);
-    if (latency === null) return;
+    if (latency === null) {
+      setLatencyHistory((values) => (values.length ? [] : values));
+      return;
+    }
    setLatencyHistory((values) => [...values.slice(-23), latency]);
  }, [state]);

@ -189,5 +198,6 @@ export function useK1Console() {
    startLive,
    startReplay,
    stop,
+    updateViewerSettings,
  };
 }
--- a/apps/k1-viewer/src/workspaces/DeviceWorkspace.tsx
+++ b/apps/k1-viewer/src/workspaces/DeviceWorkspace.tsx
@ -101,7 +101,7 @@ function DeviceRow({
        <span>{finiteMetric(device.rssi) === null ? "RSSI —" : `${device.rssi} дБм`}</span>
        <Button
          size="compact"
-          variant={selected ? "accent" : "secondary"}
+          variant={selected ? "primary" : "secondary"}
          disabled={device.connectable === false}
          onClick={onSelect}
        >
@ -116,7 +116,7 @@ function LatencyTrace({ values }: { values: number[] }) {
  const ceiling = Math.max(16, ...values);

  return (
-    <div className="latency-trace" aria-label="Последние измерения задержки потока">
+    <div className="latency-trace" aria-label="Последние измерения времени до публикации">
      {values.length ? (
        values.map((value, index) => (
          <span
@ -132,7 +132,13 @@ function LatencyTrace({ values }: { values: number[] }) {
  );
 }

-export function DeviceWorkspace({ console }: { console: ConsoleController }) {
+export function DeviceWorkspace({
+  console,
+  onOpenSpatialScene,
+}: {
+  console: ConsoleController;
+  onOpenSpatialScene: () => void;
+}) {
  const {
    state,
    backendStatus,
@ -173,7 +179,8 @@ export function DeviceWorkspace({ console }: { console: ConsoleController }) {
    }
  }, [selectedDeviceId, state?.devices, state?.selected_device_id]);

-  const metrics = state?.metrics;
+  const streamActive = state?.source_mode === "live" || state?.source_mode === "replay";
+  const metrics = streamActive ? state?.metrics : undefined;
  const latency = pipelineLatency(metrics);
  const frameRate = finiteMetric(metrics?.frame_rate ?? metrics?.frame_rate_hz);
  const points = finiteMetric(metrics?.point_count);
@ -200,25 +207,27 @@ export function DeviceWorkspace({ console }: { console: ConsoleController }) {
    if (succeeded) setPassword("");
  };

-  const submitLive = () => {
+  const submitLive = async () => {
    const host = liveHost.trim();
-    void startLive(host ? { host } : {});
+    const started = await startLive(host ? { host } : {});
+    if (started) onOpenSpatialScene();
  };

-  const submitReplay = () => {
+  const submitReplay = async () => {
    const speed = Number(replaySpeed);
-    void startReplay({
+    const started = await startReplay({
      path: replayPath.trim(),
      speed: Number.isFinite(speed) && speed > 0 ? speed : 1,
      loop: replayLoop,
    });
+    if (started) onOpenSpatialScene();
  };

  return (
    <div className="device-workspace">
      {error ? (
        <aside className="error-banner" role="alert">
-          <Icon name="alert" size={18} />
+          <span className="error-banner__dot" aria-hidden="true" />
          <div>
            <strong>Локальная операция завершилась ошибкой</strong>
            <p>{localizeRuntimeMessage(error)}</p>
@ -252,10 +261,10 @@ export function DeviceWorkspace({ console }: { console: ConsoleController }) {
      <section className="metrics-grid" aria-label="Метрики потока в реальном времени">
        <MetricCard
          featured
-          eyebrow="ЗАДЕРЖКА КОНТУРА"
+          eyebrow="ДО ПУБЛИКАЦИИ"
          value={formatNumber(latency)}
          unit="мс"
-          detail="Приём MQTT → публикация предпросмотра"
+          detail="MQTT callback → Rerun SDK; без экрана"
        />
        <MetricCard
          eyebrow="ЧАСТОТА КАДРОВ"
@ -387,7 +396,7 @@ export function DeviceWorkspace({ console }: { console: ConsoleController }) {
              </div>
              <Button
                width="full"
-                variant="accent"
+                variant="primary"
                icon={<Icon name="network" />}
                disabled={!canConnect}
                onClick={() => void submitConnect()}
@ -434,10 +443,10 @@ export function DeviceWorkspace({ console }: { console: ConsoleController }) {
                  placeholder={state?.k1_ip || "Сначала подключите устройство к Wi‑Fi"}
                />
                <Button
-                  variant="accent"
+                  variant="primary"
                  icon={<Icon name="activity" />}
                  disabled={isBusy || !liveTargetReady}
-                  onClick={submitLive}
+                  onClick={() => void submitLive()}
                >
                  {pendingAction === "live" ? "Запускаем приём…" : "Запустить приём данных"}
                </Button>
@ -473,10 +482,10 @@ export function DeviceWorkspace({ console }: { console: ConsoleController }) {
                  onChange={setReplayLoop}
                />
                <Button
-                  variant="accent"
+                  variant="primary"
                  icon={<Icon name="video" />}
                  disabled={isBusy || replayPath.trim().length === 0}
-                  onClick={submitReplay}
+                  onClick={() => void submitReplay()}
                >
                  {pendingAction === "replay" ? "Запускаем повтор…" : "Запустить повтор записи"}
                </Button>
@ -521,7 +530,7 @@ export function DeviceWorkspace({ console }: { console: ConsoleController }) {
              <header className="panel-heading panel-heading--compact">
                <div>
                  <span className="section-eyebrow">ПОСЛЕДНИЕ ИЗМЕРЕНИЯ</span>
-                  <h2>Задержка потока</h2>
+                  <h2>Время до публикации</h2>
                </div>
                <strong className="latency-now">
                  {formatNumber(latency)} <span>мс</span>
--- a/apps/k1-viewer/src/workspaces/Workspaces.tsx
+++ b/apps/k1-viewer/src/workspaces/Workspaces.tsx
@ -3,7 +3,6 @@ import {
  Button,
  GlassSurface,
  Icon,
-  SegmentedControl,
  StatusBadge,
 } from "@nodedc/ui-react";

@ -21,15 +20,9 @@ import {
  type WorkspaceDefinition,
 } from "../productModel";
 import { finiteMetric, formatNumber, pipelineLatency, sourceModeLabel } from "../presentation";
-import type { SceneProjection, SceneSettings } from "../sceneSettings";
+import type { SceneSettings } from "../sceneSettings";
 import type { BackendStatus } from "../useK1Console";

-const projectionItems = [
-  { value: "3d", label: "3D" },
-  { value: "2d", label: "2D" },
-  { value: "map", label: "Карта" },
-] satisfies Array<{ value: SceneProjection; label: string }>;
-
 function statusTone(status: CapabilityStatus): "success" | "accent" | "warning" | "neutral" {
  if (status === "active") return "success";
  if (status === "ready") return "accent";
@ -93,7 +86,6 @@ export interface WorkspaceRendererProps {
  backendStatus: BackendStatus;
  sourceUrl: string;
  sceneSettings: SceneSettings;
-  onSceneSettingsChange: (settings: SceneSettings) => void;
  navigation: WorkspaceNavigation;
 }

@ -103,12 +95,13 @@ function OverviewWorkspace({
  backendStatus,
  navigation,
 }: WorkspaceRendererProps) {
-  const metrics = state?.metrics;
+  const streamActive = state?.source_mode === "live" || state?.source_mode === "replay";
+  const metrics = streamActive ? state?.metrics : undefined;
  const latency = pipelineLatency(metrics);
  const frameRate = finiteMetric(metrics?.frame_rate ?? metrics?.frame_rate_hz);
  const points = finiteMetric(metrics?.point_count);
  const adapterOnline = backendStatus === "online";
-  const streamActive = state?.source_mode === "live" || state?.source_mode === "replay";
+  const rerunReady = Boolean(state?.rerun_grpc_url);

  return (
    <div className="standard-workspace overview-workspace">
@ -119,10 +112,10 @@ function OverviewWorkspace({
      <section className="metrics-grid" aria-label="Оперативные показатели">
        <MetricCard
          featured
-          eyebrow="ЗАДЕРЖКА"
+          eyebrow="ДО ПУБЛИКАЦИИ"
          value={formatNumber(latency)}
          unit="мс"
-          detail="Локальный путь приёма и публикации"
+          detail="MQTT callback → Rerun SDK; без экрана"
        />
        <MetricCard
          eyebrow="ЧАСТОТА"
@ -166,10 +159,10 @@ function OverviewWorkspace({
              <small>{sourceModeLabel(state?.source_mode)}</small>
            </div>
            <Icon name="chevron-right" />
-            <div data-state="contract">
+            <div data-state={rerunReady ? "ready" : "idle"}>
              <span>03</span>
              <strong>Rerun</strong>
-              <small>ожидает источник</small>
+              <small>{rerunReady ? "gRPC опубликован" : "ожидает поток"}</small>
            </div>
            <Icon name="chevron-right" />
            <div data-state="ready">
@ -227,7 +220,6 @@ function EmptySpatialStage({ settings }: { settings: SceneSettings }) {
      <div className="empty-spatial-stage__grid" aria-hidden="true" />
      <div className="spatial-axis" aria-hidden="true">
        <span data-axis="x">X</span>
-        <span data-axis="y">Y</span>
        <span data-axis="z">Z</span>
      </div>
      <div className="empty-spatial-stage__message">
@ -246,13 +238,13 @@ function SpatialWorkspace({
  state,
  sourceUrl,
  sceneSettings,
-  onSceneSettingsChange,
  navigation,
 }: WorkspaceRendererProps) {
  const [viewerStatus, setViewerStatus] = useState<RerunViewportStatus>(sourceUrl ? "loading" : "idle");
  const [viewerMessage, setViewerMessage] = useState("");
  const [selection, setSelection] = useState<RerunSelection | null>(null);
-  const metrics = state?.metrics;
+  const streamActive = state?.source_mode === "live" || state?.source_mode === "replay";
+  const metrics = streamActive ? state?.metrics : undefined;
  const latency = pipelineLatency(metrics);
  const frameRate = finiteMetric(metrics?.frame_rate ?? metrics?.frame_rate_hz);
  const points = finiteMetric(metrics?.point_count);
@ -276,12 +268,7 @@ function SpatialWorkspace({
    <div className="spatial-workspace">
      <div className="spatial-toolbar">
        <div className="spatial-toolbar__mode">
-          <SegmentedControl
-            label="Проекция сцены"
-            value={sceneSettings.projection}
-            items={projectionItems}
-            onChange={(projection) => onSceneSettingsChange({ ...sceneSettings, projection })}
-          />
+          <span className="section-eyebrow">СЦЕНА 3D · RERUN</span>
        </div>
        <div className="spatial-toolbar__actions">
          <Button size="compact" variant="secondary" icon={<Icon name="network" />} onClick={navigation.openSource}>
@ -323,7 +310,7 @@ function SpatialWorkspace({
            <strong>{points === null ? "—" : points.toLocaleString("ru-RU", { maximumFractionDigits: 0 })}</strong>
          </div>
          <div>
-            <span>Задержка</span>
+            <span>До публикации</span>
            <strong>{formatNumber(latency)}<small> мс</small></strong>
          </div>
        </div>
@ -333,7 +320,7 @@ function SpatialWorkspace({
            <Icon name="alert" />
            <span>
              Локальный поток <strong>{sourceModeLabel(state.source_mode).toLocaleLowerCase("ru-RU")}</strong> активен,
-              но Rerun-адаптер пока не назначен.
+              Rerun-мост запускается и опубликует адрес автоматически.
            </span>
          </div>
        ) : null}
@ -366,7 +353,7 @@ function SpatialWorkspace({
      <div className="spatial-contract-strip">
        <span><i data-state="ready" />Облако точек</span>
        <span><i data-state="ready" />Траектория</span>
-        <span><i data-state="contract" />Преобразования</span>
+        <span><i data-state="ready" />Преобразования</span>
        <span><i data-state="contract" />Камеры в 3D</span>
        <span><i data-state="contract" />Объекты / маски</span>
        <span><i data-state="contract" />Компоновка</span>
@ -532,7 +519,7 @@ function MissionWorkspace({ definition }: WorkspaceRendererProps) {
            <span><i />Связь</span>
            <span><i />Безопасность</span>
          </div>
-          <Button variant="accent" width="full" disabled>Сохранить миссию</Button>
+          <Button variant="primary" width="full" disabled>Сохранить миссию</Button>
        </GlassSurface>
      </div>
      <FeatureInventory definition={definition} />
--- a/docs/06_K1_LIVE_VIEWER.md
+++ b/docs/06_K1_LIVE_VIEWER.md
@ -1,9 +1,11 @@
-# K1 live console and Foxglove bridge
+# K1 live console and embedded Rerun bridge

-Status: alpha implementation for the verified firmware-3 MQTT streams. It uses
-real K1 data and does not generate a placeholder cloud, pose or latency value.
+Status: the Rerun alpha milestone is implemented for the verified firmware-3
+MQTT streams. Live capture and replay use real K1 point-cloud and pose messages;
+the application does not generate a placeholder cloud, trajectory, camera frame
+or latency value.

-## Architecture
+## Active device-to-scene path

 ```text
 K1 lio_pcl / lio_pose
@ -11,139 +13,263 @@ K1 lio_pcl / lio_pose
          v
 read-only MQTT subscription on TCP 1883
          |
-          +--> raw .k1mqtt + JSONL + SHA-256 summary (first)
+          +--> raw .k1mqtt + JSONL + SHA-256 summary (written first)
          |
          v
 bounded latest-wins preview queue (32 messages)
          |
          v
-raw-LZ4/protobuf decoder --> foxglove.PointCloud / Pose / SceneUpdate
+reviewed raw-LZ4/protobuf decoders
          |
          v
-ws://127.0.0.1:8765 --> Foxglove 3D
+Rerun Points3D + Transform3D + LineStrips3D
+          |
+          v
+Rerun gRPC/proxy on TCP 9876
+          |
+          +--> rerun_grpc_url in REST/WebSocket state
+          |
+          v
+self-hosted @rerun-io/web-viewer inside NODE.DC Control Station

 React console <-- REST + WebSocket state --> FastAPI on 127.0.0.1:8000
 ```

-The Paho MQTT callback never decodes the point cloud. It writes and flushes the
-raw frame and metadata, then enqueues a preview reference. If visualization cannot
-keep up, the oldest queued preview is discarded while the raw capture continues.
+The Paho MQTT callback does not decode or render the point cloud. It first
+writes and flushes the raw frame and metadata, then enqueues a preview message.
+If visualization cannot keep up, the oldest queued preview is discarded while
+the raw capture continues. Rerun work stays on the dedicated publisher thread
+and cannot block raw-first evidence capture.
+
+The current live/replay runtime instantiates only `RerunBridge`. The former
+Foxglove implementation is not a parallel runtime and does not listen on TCP
+8765; it is retained only as a legacy regression module and test oracle.

 ## Start the local application

-Prerequisites are the repository-local Python environment and Node.js 20 or
-newer. No global Python package or system component is installed.
+Prerequisites are the repository-local Python environment and Node.js 20.19+ or
+22.12+. No global Python package or system component is installed.

 ```bash
 uv sync --group dev
 cd apps/k1-viewer
 npm install
+npm run typecheck
 npm run build
 cd ../..
 uv run k1link serve
 ```

-Open `http://127.0.0.1:8000`. `k1link serve` intentionally exposes no LAN bind
-option because its provisioning endpoint temporarily receives a Wi-Fi password.
-The password is accepted only in the POST body, is never logged or persisted by
-the connector, and is cleared from the React form after success.
+Open `http://127.0.0.1:8000`. The static Control Station, REST API, WebSocket
+state channel and credential endpoint bind to loopback. The Rerun gRPC server is
+a separate listener with a different network boundary described under
+[Network and security boundary](#network-and-security-boundary).

-## Replay the captured proof
+## Replay a reviewed capture

-1. In **Session**, select **Replay capture**.
-2. Enter the repository-relative path:
+1. In **Парк → Локальное устройство**, choose the replay mode.
+2. Enter a native `mqtt.raw.k1mqtt` capture or a reviewed four-column TSV,
+   for example:

   ```text
   sessions/20260715T122850Z_live_power_cycle/captures/mqtt_scan_full_payloads_03.tsv
   ```

-3. Use speed `1` and enable loop for initial viewer setup.
-4. Start replay, then select **Open Foxglove 3D**.
-5. In a Foxglove 3D panel, enable `/k1/points`, `/k1/pose` and
-   `/k1/trajectory`.
-6. For the cloud, choose `intensity` as the color field and a Turbo/Rainbow
-   colormap or custom two-color gradient. Foxglove can also color by `x`, `y`,
-   `z` and its derived `<distance>`.
+3. Select replay speed and optional looping, then start the session.
+4. The runtime starts the process-wide Rerun `RecordingStream` and its
+   gRPC/proxy server on TCP 9876 before the first replay. Later sessions reuse it.
+5. Open **Наблюдение → Пространственная сцена**. With the manual source field
+   empty, the embedded viewer automatically uses:

-The reviewed TSV reader accepts exactly four columns: receive timestamp, topic,
-declared payload length and hex payload. It verifies timestamp, UTF-8 topic,
-declared length, hex encoding and allocation bounds. Native
-`mqtt.raw.k1mqtt` captures are supported directly and use their sibling metadata
-timestamps when present.
+   ```text
+   rerun+http://127.0.0.1:9876/proxy
+   ```
+
+6. Use **Отображение** and **Слои** to adjust the real cloud and trajectory.
+7. Stop the session when finished. Acquisition and session metrics stop, while
+   the embedded viewer and `rerun_grpc_url` remain ready. A later session resets
+   scene-local state and reuses the same listener without reloading the page.
+
+The TSV reader accepts exactly receive timestamp, topic, declared payload length
+and hexadecimal payload. It verifies timestamp, UTF-8 topic, declared length,
+hex encoding and allocation bounds. Native `.k1mqtt` captures are supported
+directly and use their sibling metadata receive timestamps when present.

 ## Connect and stream live

 1. Power K1 to its normal steady-green standby state.
-2. Confirm the manual power checklist in **Connect**.
-3. Run the real six-second BLE scan and select the K1 candidate.
-4. Enter the existing router SSID/password and press **Provision Wi-Fi &
-   connect**. That button is the explicit authorization for one reviewed 99-byte
-   provisioning write; the backend never retries automatically.
-5. When K1 reports a non-AP private address, press **Start live stream**.
-6. Open Foxglove before scanning if convenient.
-7. Double-click the physical K1 button to start scanning. Double-click again to
-   stop, wait for the LED to return to steady green, then stop the local session.
+2. Confirm the manual power checklist in **Парк → Локальное устройство**.
+3. Run the real six-second BLE scan and select the intended device from the
+   complete visible-device list.
+4. Enter the existing router SSID/password and explicitly authorize the reviewed
+   provisioning write. The backend does not retry the write automatically.
+5. When K1 reports a non-AP private address, start live reception.
+6. Wait until the UI reports that the local Rerun bridge is ready. No manual
+   viewer URL is needed.
+7. Open **Наблюдение → Пространственная сцена**.
+8. Double-click the physical K1 button to start scanning. Real point frames and
+   pose/trajectory updates then appear in the embedded viewport.
+9. Double-click K1 again to stop physical scanning, wait for steady green, then
+   stop the local session so captures and summaries are finalized.

 Each live run creates an ignored `sessions/<UTC>_viewer_live/` directory with a
 redacted manifest, operator notes, raw MQTT frames, per-message metadata and a
-hash summary. No application request topic is published.
+hash summary. The connector subscribes to the fixed report-topic allowlist and
+does not publish an application request or modeling command.

-## Published topics
+## Automatic Rerun source and lifecycle

-| Topic | Foxglove schema | Meaning |
+On the first live or replay session, `RerunBridge`:
+
+- creates an explicit `RecordingStream("nodedc_device_spatial")`;
+- installs the default spatial blueprint;
+- starts the gRPC/proxy server on TCP 9876 with a 512 MiB late-client buffer;
+- reports `rerun+http://127.0.0.1:9876/proxy` only after the server is ready;
+- accepts the local development and production browser origins used by this
+  repository;
+- keeps the recording and URL alive until `k1link serve` shuts down.
+
+At every session start it resets the trajectory, current point count, metrics,
+blueprint and session-local visible time, then feeds the new source through the
+same recording. This process-wide lifecycle is intentional: the Rerun 0.34.1
+browser receiver can remain connected after canvas teardown, so restarting the
+native listener on the same port is not a reliable session boundary.
+
+The frontend prefers an operator-entered source when one is present; otherwise
+it automatically uses `rerun_grpc_url` from backend state. A manual field can
+still open another compatible `rerun+http://.../proxy` source or an RRD file
+served over HTTP(S). No externally hosted viewer UI is involved:
+`@rerun-io/web-viewer` and its WebAssembly runtime are bundled with the local
+application. FastAPI carries control state only; the browser reads the point
+stream directly from the Rerun gRPC/proxy endpoint.
+
+## Rerun entities
+
+| Entity | Rerun archetype | Meaning |
 | --- | --- | --- |
-| `/k1/points` | `foxglove.PointCloud` | metric XYZ float32 + uint8 intensity, stride 16 |
-| `/k1/pose` | `foxglove.PoseInFrame` | current decoded K1 pose in the `map` frame |
-| `/k1/trajectory` | `foxglove.SceneUpdate` | bounded cyan line strip, throttled while growing |
-| `/k1/metrics` | JSON schema | latency, decode/publish time, FPS, points and drops |
+| `/world` | `ViewCoordinates` | right-handed Z-up display convention |
+| `/world/points` | `Points3D` | decoded metric XYZ with computed or available RGB colors |
+| `/world/sensor_pose` | `Transform3D` + `TransformAxes3D` | current decoded translation, xyzw quaternion and pose axes |
+| `/world/trajectory` | `LineStrips3D` | bounded path of up to 20,000 decoded poses |

-Point coordinates remain `(x/scaler, y/scaler, z/scaler)` exactly as verified.
-No axis swap, quaternion normalization or vehicle extrinsic is silently applied.
-Only the low byte of `rgbi` is labeled intensity; interpreting the upper bytes
-as RGB remains unverified.
+Point count, frame rate, queue drops and measured pipeline time remain product
+metrics in the outer Control Station; they are not logged as Rerun entities and
+therefore cannot create additional automatic viewer panes.

-## Latency semantics
+Point coordinates remain `(x/scaler, y/scaler, z/scaler)` exactly as decoded.
+No axis swap, quaternion normalization, scanner-to-vehicle extrinsic or SLAM
+post-processing is silently applied. The point entity is in `/world` rather
+than under the pose transform, so an already map-frame cloud is not transformed
+twice. The physical K1 axes and a scanner-to-vehicle transform still require
+calibration before vehicle mounting.

-`pipeline_ms` / `mqtt_to_publish_ms` is measured with the host monotonic clock
-from MQTT callback receipt through raw disk write, bounded queue wait, decode,
-packing and Foxglove channel publish. Rolling p50/p95 values use the last 512
-published decoded messages.
+Only the low byte of firmware-3 `rgbi` has been verified as intensity. The
+upper bytes are not labeled RGB. Legacy frames use RGB only when those decoded
+fields are actually present.

-This is the exact Mac pipeline latency, not yet sensor-photon-to-screen latency.
-The K1 header timestamp epoch has not been proven, Foxglove rendering time is
-outside the Python publisher, and display latency is not observable without a
-clock-correlated device timestamp or high-speed-camera experiment. Foxglove
-message time therefore uses host receive Unix time while durations use
-`monotonic_ns`.
+## Scene controls
+
+The current product controls call `POST /api/viewer/settings`; backend state is
+authoritative and the bridge applies the updated settings to subsequent
+messages.
+
+| Control | Implemented behavior |
+| --- | --- |
+| Point size | Rerun UI-point radius from 0.5 to 12.0; default 2.5 |
+| Color attribute | intensity, height Z, distance from the point-coordinate origin, available RGB, or solid class/custom color |
+| Palette | Turbo, Viridis, Plasma, grayscale or operator-selected custom color |
+| Accumulation | sliding session-local `stream_time` window from 0 to 120 seconds; default 12 seconds |
+| Point layer | shows or clears `/world/points` |
+| Trajectory | shows or clears the decoded path; publication is throttled while it grows |
+| Grid | updates visibility of the Rerun 3D line grid through the active blueprint |
+
+The default 12-second accumulation is a viewer time range over real point
+frames; it does not duplicate or alter the raw capture. An accumulation of zero
+shows only the current frame. RGB mode falls back to the verified scalar
+coloring path when the active point format has no RGB fields. The current
+`class`/custom behavior is a selected solid color, not semantic segmentation.
+
+Projection switching, a custom playback timeline, semantic object/mask layers,
+camera frustums and persisted RBL/layout profiles are not wired yet and must not
+be inferred from the implemented controls above.
+
+## Time and latency semantics
+
+The Rerun `capture_time` timeline uses
+`StreamMessage.received_at_epoch_ns`: Unix time when the Mac received the MQTT
+message. The K1 header timestamp epoch is not proven, so `capture_time` is not
+a sensor acquisition timestamp. The viewer accumulation window uses
+`stream_time`, assigned when the current live/replay run publishes a message;
+therefore replayed historical timestamps do not mix two sequential sessions.
+
+For live MQTT only, `pipeline_ms` / `mqtt_to_publish_ms` uses the Mac monotonic
+clock from MQTT callback receipt through raw disk write, bounded queue wait,
+decode, Rerun packing and the SDK log call. Replay and idle states expose no
+latency value. Browser fetch, WebAssembly ingestion, GPU rendering and display
+scanout are outside this measurement.
+
+The displayed value is therefore Mac pipeline latency, not sensor-photon-to-
+screen latency. End-to-end display latency requires a proven device clock or a
+separate clock-correlated/high-speed-camera experiment.
+
+## Network and security boundary
+
+There are two different listeners:
+
+- FastAPI, the WebSocket control plane and Wi-Fi credential endpoint bind only
+  to `127.0.0.1:8000`;
+- Rerun gRPC/proxy on TCP 9876 currently binds **all network interfaces**, even
+  though the URL returned to the local browser contains `127.0.0.1`.
+
+The Rerun endpoint has no connector-level authentication and no TLS. It may
+expose point clouds, trajectory and mapped interiors to any host that can reach
+the port. Use it only on a trusted laboratory LAN, block TCP 9876 at the router
+and host firewall as appropriate, and never forward it directly to the public
+Internet or cellular WAN. Remote operation requires an authenticated TLS reverse
+proxy or another reviewed secure transport before deployment.
+
+The 512 MiB Rerun server buffer limits retained late-client data but is not an
+access-control mechanism. The listener and embedded viewer intentionally remain
+ready between acquisition sessions. Stop `k1link serve` when the network
+listener and its process memory must be closed unconditionally.

 ## Current boundaries

- Raw panoramic camera frames were not present on the observed MQTT report
-  topics; this milestone intentionally ships point cloud plus trajectory only.
- Physical double-click remains the start/stop control. A future MQTT modeling
+- Raw panoramic camera frames were absent from the observed MQTT report topics.
+  This milestone contains point cloud and pose/trajectory; operational metrics
+  are rendered by the outer Control Station.
+- Physical double-click remains the K1 scan start/stop control. Any MQTT command
  publisher needs a separately reviewed state-changing profile.
- The React application opens the official Foxglove viewer over a local
-  WebSocket. It does not embed or fork the proprietary modern viewer; Foxglove
-  account/seat terms apply to that viewer independently of this connector.
- Exact path axes and a scanner-to-vehicle transform must be calibrated before
-  mounting on the unmanned platform.
+- No terrain map, elevation model, obstacle segmentation, localization fusion,
+  mission planner or vehicle control is implemented by this viewer milestone.
+- Exact coordinate axes and the scanner-to-vehicle transform remain a mounting
+  calibration task.
+- A single local runtime owns TCP 9876. A port collision causes a visible bridge
+  startup error rather than silently selecting another source. The Rerun native
+  listener lives for the lifetime of `k1link serve` and is reused by later
+  sessions in that process; shutdown closes it explicitly.

-## Verification checkpoint — 2026-07-15
+## Verification checkpoint — 2026-07-16

-The full captured 180-second scan was passed through the production Foxglove
-bridge without a viewer-side substitute:
+A powered K1 capture was passed through the active MQTT → decoder → Rerun gRPC →
+embedded Web Viewer path without a viewer-side substitute:

 | Check | Result |
 | --- | ---: |
-| MQTT messages read | 2,836 |
-| `lio_pcl` frames published | 1,140 |
-| `lio_pose` frames published | 1,215 |
-| points packed and published | 4,165,862 |
+| real MQTT messages processed | 80 |
+| `lio_pcl` frames published | 38 |
+| `lio_pose` frames published | 42 |
+| points in the last cloud | 2,775 |
 | decoder errors | 0 |
-| final trajectory poses | 1,215 |

-The same replay was then started through the FastAPI/React contract at `10x`.
-The API exposed the loopback Foxglove URL, live point/pose metrics and non-zero
-preview-drop accounting under deliberate acceleration, and released TCP 8765
-after the stop request. This validates replay, overload behavior and lifecycle;
-the next checkpoint is the powered K1 ideal-LAN live run.
+The 38 point frames and 42 pose frames account for all 80 observed messages.
+This proves current real-device decoding, bridge publication and embedded-viewer
+delivery for point cloud plus trajectory. It does not prove a camera channel or
+sensor-to-screen latency.
+
+## Legacy Foxglove regression module
+
+`src/k1link/viewer/foxglove_bridge.py` and its tests remain in the repository
+to compare decoder/packing behavior and preserve earlier evidence. They are not
+instantiated by `VisualizationRuntime`, are not the Control Station source, and
+do not make TCP 8765 part of the current operator path.
--- a/pyproject.toml
+++ b/pyproject.toml
@ -16,6 +16,7 @@ dependencies = [
  "foxglove-sdk==0.25.3",
  "lz4>=4.4,<5",
  "paho-mqtt>=2.1,<3",
+  "rerun-sdk==0.34.1",
  "rich>=13.9,<15",
  "typer>=0.15,<1",
  "uvicorn[standard]>=0.35,<1",
--- a/src/k1link/viewer/rerun_bridge.py
+++ b/src/k1link/viewer/rerun_bridge.py
@ -0,0 +1,386 @@
+from __future__ import annotations
+
+import math
+import time
+from collections import deque
+from collections.abc import Callable
+from dataclasses import asdict, dataclass
+from typing import Literal
+
+import numpy as np
+import rerun as rr
+from rerun import blueprint as rrb
+
+from k1link.protocol.streams import (
+    LegacyPointCloudFrame,
+    LegacyPoseFrame,
+    LioPointCloudFrame,
+    LioPoseFrame,
+    StreamDecodeError,
+    decode_legacy_pointcloud,
+    decode_legacy_pose,
+    decode_lio_pcl,
+    decode_lio_pose,
+)
+from k1link.viewer.foxglove_bridge import BridgeMetrics
+from k1link.viewer.messages import StreamMessage
+
+PointColorMode = Literal["intensity", "height", "distance", "rgb", "class"]
+PointPalette = Literal["turbo", "viridis", "plasma", "grayscale", "custom"]
+
+MAX_TRAJECTORY_POSES = 20_000
+DEFAULT_GRPC_PORT = 9876
+DEFAULT_CORS_ORIGINS = (
+    "http://127.0.0.1:5173",
+    "http://localhost:5173",
+    "http://127.0.0.1:4173",
+    "http://localhost:4173",
+    "http://127.0.0.1:8000",
+    "http://localhost:8000",
+)
+
+
+@dataclass(frozen=True, slots=True)
+class RerunSceneSettings:
+    point_size: float = 2.5
+    color_mode: PointColorMode = "intensity"
+    palette: PointPalette = "turbo"
+    custom_color: str = "#f7f8f4"
+    accumulation_seconds: float = 12.0
+    show_points: bool = True
+    show_trajectory: bool = True
+    show_grid: bool = True
+
+    def as_dict(self) -> dict[str, object]:
+        return asdict(self)
+
+
+SettingsProvider = Callable[[], RerunSceneSettings]
+
+
+class RerunBridge:
+    """Decode verified device topics into a self-hosted Rerun recording stream."""
+
+    def __init__(
+        self,
+        *,
+        grpc_port: int = DEFAULT_GRPC_PORT,
+        metrics: BridgeMetrics | None = None,
+        settings_provider: SettingsProvider | None = None,
+        cors_allow_origin: tuple[str, ...] = DEFAULT_CORS_ORIGINS,
+        recording_factory: Callable[[str], rr.RecordingStream] | None = None,
+    ) -> None:
+        self.metrics = metrics or BridgeMetrics()
+        self._settings_provider = settings_provider or RerunSceneSettings
+        self._settings = self._settings_provider()
+        self._recording = (recording_factory or rr.RecordingStream)(
+            "nodedc_device_spatial"
+        )
+        blueprint = _blueprint(self._settings)
+        self._url = self._recording.serve_grpc(
+            grpc_port=grpc_port,
+            default_blueprint=blueprint,
+            server_memory_limit="512MiB",
+            newest_first=True,
+            cors_allow_origin=list(cors_allow_origin),
+        )
+        self._recording.send_blueprint(
+            blueprint,
+            make_active=True,
+            make_default=True,
+        )
+        self._recording.log("/world", rr.ViewCoordinates.RIGHT_HAND_Z_UP, static=True)
+        self._recording.log(
+            "/world/sensor_pose",
+            rr.TransformAxes3D(axis_length=0.45, show_frame=True),
+            static=True,
+        )
+        self._path: deque[tuple[float, float, float]] = deque(
+            maxlen=MAX_TRAJECTORY_POSES
+        )
+        self._last_trajectory_publish_ns = 0
+        self._last_point_count = 0
+        self._closed = False
+
+    @property
+    def grpc_url(self) -> str:
+        return self._url
+
+    def begin_session(self, metrics: BridgeMetrics | None = None) -> None:
+        """Reset session-local state while keeping the process-wide server alive."""
+        if self._closed:
+            raise RuntimeError("Rerun bridge is already closed")
+        if metrics is not None:
+            self.metrics = metrics
+        self._settings = self._settings_provider()
+        self._path.clear()
+        self._last_trajectory_publish_ns = 0
+        self._last_point_count = 0
+        self._recording.set_time("stream_time", timestamp=time.time())
+        self._recording.log("/world", rr.Clear(recursive=True))
+        self._recording.log("/world", rr.ViewCoordinates.RIGHT_HAND_Z_UP, static=True)
+        self._recording.log(
+            "/world/sensor_pose",
+            rr.TransformAxes3D(axis_length=0.45, show_frame=True),
+            static=True,
+        )
+        self._recording.send_blueprint(
+            _blueprint(self._settings),
+            make_active=True,
+            make_default=True,
+        )
+
+    def process(self, message: StreamMessage) -> None:
+        started_ns = time.monotonic_ns()
+        self.metrics.received(len(message.payload))
+        self._apply_latest_settings()
+        self._set_message_time(message)
+
+        try:
+            if message.topic.endswith("/lio_pcl"):
+                self._publish_lio_pcl(decode_lio_pcl(message.payload))
+                point_frame = True
+            elif message.topic == "RealtimePointcloud":
+                self._publish_legacy_pcl(decode_legacy_pointcloud(message.payload))
+                point_frame = True
+            elif message.topic.endswith("/lio_pose"):
+                self._publish_lio_pose(decode_lio_pose(message.payload))
+                point_frame = False
+            elif message.topic == "RealtimePath":
+                self._publish_legacy_pose(decode_legacy_pose(message.payload))
+                point_frame = False
+            else:
+                return
+        except StreamDecodeError:
+            self.metrics.decode_error()
+            return
+
+        published_ns = time.monotonic_ns()
+        decode_publish_ms = (published_ns - started_ns) / 1_000_000
+        if point_frame:
+            self.metrics.published_pcl(
+                self._last_point_count,
+                published_ns,
+                decode_publish_ms,
+            )
+        else:
+            self.metrics.published_pose(
+                published_ns,
+                decode_publish_ms,
+                len(self._path),
+            )
+        if message.source == "live_mqtt" and message.received_monotonic_ns is not None:
+            self.metrics.record_latency(
+                (published_ns - message.received_monotonic_ns) / 1_000_000
+            )
+
+    def close(self) -> None:
+        if self._closed:
+            return
+        self._closed = True
+        recording = self._recording
+        try:
+            recording.flush(timeout_sec=5.0)
+        finally:
+            recording.disconnect()
+        # The Python wrapper owns the native gRPC server. Release it immediately
+        # instead of waiting for the publisher thread frame to be collected.
+        del self._recording
+
+    def _set_message_time(self, message: StreamMessage) -> None:
+        self._recording.set_time("stream_time", timestamp=time.time())
+        self._recording.set_time(
+            "capture_time",
+            timestamp=message.received_at_epoch_ns / 1_000_000_000,
+        )
+        self._recording.set_time("message_sequence", sequence=message.sequence)
+
+    def _apply_latest_settings(self) -> None:
+        settings = self._settings_provider()
+        if settings == self._settings:
+            return
+        self._settings = settings
+        self._recording.send_blueprint(_blueprint(settings))
+
+    def _publish_lio_pcl(self, frame: LioPointCloudFrame) -> None:
+        count = len(frame.points)
+        positions = np.empty((count, 3), dtype=np.float32)
+        intensities = np.empty(count, dtype=np.uint8)
+        scaler = frame.header.scaler
+        for index, point in enumerate(frame.points):
+            positions[index] = point.scaled_xyz(scaler)
+            intensities[index] = point.intensity
+        self._publish_points(positions, intensities, rgb=None)
+
+    def _publish_legacy_pcl(self, frame: LegacyPointCloudFrame) -> None:
+        count = len(frame.points)
+        positions = np.empty((count, 3), dtype=np.float32)
+        intensities = np.empty(count, dtype=np.uint8)
+        rgb = np.empty((count, 3), dtype=np.uint8)
+        for index, point in enumerate(frame.points):
+            positions[index] = (point.x, point.y, point.z)
+            intensities[index] = point.intensity
+            rgb[index] = (point.r, point.g, point.b)
+        self._publish_points(positions, intensities, rgb=rgb)
+
+    def _publish_points(
+        self,
+        positions: np.ndarray,
+        intensities: np.ndarray,
+        *,
+        rgb: np.ndarray | None,
+    ) -> None:
+        self._last_point_count = int(positions.shape[0])
+        if not self._settings.show_points:
+            self._recording.log("/world/points", rr.Clear(recursive=False))
+            return
+        colors = _point_colors(positions, intensities, rgb, self._settings)
+        self._recording.log(
+            "/world/points",
+            rr.Points3D(
+                positions,
+                colors=colors,
+                radii=rr.Radius.ui_points(self._settings.point_size),
+            ),
+        )
+
+    def _publish_lio_pose(self, frame: LioPoseFrame) -> None:
+        self._publish_pose(frame.position_xyz, frame.orientation_xyzw)
+
+    def _publish_legacy_pose(self, frame: LegacyPoseFrame) -> None:
+        self._publish_pose(frame.position_xyz, frame.orientation_xyzw)
+
+    def _publish_pose(
+        self,
+        position_xyz: tuple[float, float, float],
+        orientation_xyzw: tuple[float, float, float, float],
+    ) -> None:
+        self._recording.log(
+            "/world/sensor_pose",
+            rr.Transform3D(
+                translation=position_xyz,
+                quaternion=rr.Quaternion(xyzw=orientation_xyzw),
+            ),
+        )
+        self._path.append(position_xyz)
+        if not self._settings.show_trajectory:
+            self._recording.log("/world/trajectory", rr.Clear(recursive=False))
+            return
+        now_ns = time.monotonic_ns()
+        if (
+            len(self._path) > 2
+            and len(self._path) % 20 != 0
+            and now_ns - self._last_trajectory_publish_ns < 200_000_000
+        ):
+            return
+        self._last_trajectory_publish_ns = now_ns
+        self._recording.log(
+            "/world/trajectory",
+            rr.LineStrips3D(
+                [list(self._path)],
+                colors=[247, 248, 244, 255],
+                radii=rr.Radius.ui_points(2.0),
+            ),
+        )
+
+def _blueprint(settings: RerunSceneSettings) -> rrb.Blueprint:
+    accumulation = max(0.0, settings.accumulation_seconds)
+    time_range = rr.VisibleTimeRange(
+        "stream_time",
+        start=rr.TimeRangeBoundary.cursor_relative(seconds=-accumulation),
+        end=rr.TimeRangeBoundary.cursor_relative(),
+    )
+    return rrb.Blueprint(
+        rrb.Spatial3DView(
+            origin="/world",
+            name="Пространственная сцена",
+            background=[7, 8, 10, 255],
+            line_grid=rrb.LineGrid3D(
+                visible=settings.show_grid,
+                color=[86, 91, 99, 110],
+                stroke_width=0.75,
+            ),
+            time_ranges=[time_range],
+        ),
+        auto_layout=False,
+        auto_views=False,
+        collapse_panels=True,
+    )
+
+
+def _point_colors(
+    positions: np.ndarray,
+    intensities: np.ndarray,
+    rgb: np.ndarray | None,
+    settings: RerunSceneSettings,
+) -> np.ndarray:
+    if settings.color_mode == "rgb" and rgb is not None:
+        return rgb
+    if settings.color_mode == "class":
+        color = _parse_hex_color(settings.custom_color)
+        return np.tile(np.asarray(color, dtype=np.uint8), (positions.shape[0], 1))
+    if settings.color_mode == "height":
+        values = _normalize(positions[:, 2])
+    elif settings.color_mode == "distance":
+        values = _normalize(np.linalg.norm(positions, axis=1))
+    else:
+        values = intensities.astype(np.float32) / 255.0
+    return _apply_palette(values, settings.palette, settings.custom_color)
+
+
+def _normalize(values: np.ndarray) -> np.ndarray:
+    if values.size == 0:
+        return values.astype(np.float32)
+    minimum = float(np.min(values))
+    maximum = float(np.max(values))
+    if not math.isfinite(minimum) or not math.isfinite(maximum) or maximum <= minimum:
+        return np.full(values.shape, 0.5, dtype=np.float32)
+    return ((values - minimum) / (maximum - minimum)).astype(np.float32)
+
+
+def _apply_palette(values: np.ndarray, palette: PointPalette, custom: str) -> np.ndarray:
+    clipped = np.clip(values, 0.0, 1.0)
+    if palette == "custom":
+        color = _parse_hex_color(custom)
+        return np.tile(np.asarray(color, dtype=np.uint8), (values.size, 1))
+    if palette == "grayscale":
+        channel = np.rint(clipped * 255).astype(np.uint8)
+        return np.column_stack((channel, channel, channel))
+
+    stops = {
+        "turbo": (
+            (0.00, (48, 18, 59)),
+            (0.25, (40, 126, 231)),
+            (0.50, (42, 240, 154)),
+            (0.75, (246, 214, 55)),
+            (1.00, (180, 4, 38)),
+        ),
+        "viridis": (
+            (0.00, (68, 1, 84)),
+            (0.25, (59, 82, 139)),
+            (0.50, (33, 145, 140)),
+            (0.75, (94, 201, 98)),
+            (1.00, (253, 231, 37)),
+        ),
+        "plasma": (
+            (0.00, (13, 8, 135)),
+            (0.25, (126, 3, 168)),
+            (0.50, (204, 71, 120)),
+            (0.75, (248, 149, 64)),
+            (1.00, (240, 249, 33)),
+        ),
+    }[palette]
+    positions = np.asarray([item[0] for item in stops], dtype=np.float32)
+    colors = np.asarray([item[1] for item in stops], dtype=np.float32)
+    channels = [np.interp(clipped, positions, colors[:, index]) for index in range(3)]
+    return np.rint(np.column_stack(channels)).astype(np.uint8)
+
+
+def _parse_hex_color(value: str) -> tuple[int, int, int]:
+    candidate = value.removeprefix("#")
+    if len(candidate) != 6:
+        return 247, 248, 244
+    try:
+        return tuple(int(candidate[index : index + 2], 16) for index in (0, 2, 4))  # type: ignore[return-value]
+    except ValueError:
+        return 247, 248, 244
--- a/src/k1link/viewer/runtime.py
+++ b/src/k1link/viewer/runtime.py
@ -11,9 +11,10 @@ from typing import Literal, TypedDict

 from k1link.artifacts import utc_now_iso, write_json_atomic
 from k1link.mqtt import CapturedMqttMessage, CaptureError, capture_mqtt
-from k1link.viewer.foxglove_bridge import BridgeMetrics, FoxgloveBridge, MetricsSnapshot
+from k1link.viewer.foxglove_bridge import BridgeMetrics, MetricsSnapshot
 from k1link.viewer.messages import StreamMessage
 from k1link.viewer.replay import iter_replay_messages
+from k1link.viewer.rerun_bridge import DEFAULT_GRPC_PORT, RerunBridge, RerunSceneSettings

 RuntimePhase = Literal[
    "idle",
@ -25,6 +26,7 @@ RuntimePhase = Literal[
 ]
 SourceMode = Literal["idle", "live", "replay"]
 StateCallback = Callable[[], None]
+BridgeFactory = Callable[..., RerunBridge]


 class RuntimeSnapshot(TypedDict):
@ -33,13 +35,21 @@ class RuntimeSnapshot(TypedDict):
    source_mode: SourceMode
    foxglove_ws_url: str | None
    foxglove_viewer_url: str | None
+    rerun_grpc_url: str | None
+    viewer_settings: dict[str, object]
    metrics: MetricsSnapshot


 class VisualizationRuntime:
    """Own one bounded live/replay source and one deterministic publisher thread."""

-    def __init__(self, *, on_state_change: StateCallback | None = None) -> None:
+    def __init__(
+        self,
+        *,
+        on_state_change: StateCallback | None = None,
+        grpc_port: int = DEFAULT_GRPC_PORT,
+        bridge_factory: BridgeFactory | None = None,
+    ) -> None:
        self._lock = threading.Lock()
        self._on_state_change = on_state_change
        self._thread: threading.Thread | None = None
@ -49,6 +59,12 @@ class VisualizationRuntime:
        self._source_mode: SourceMode = "idle"
        self._foxglove_ws_url: str | None = None
        self._foxglove_viewer_url: str | None = None
+        self._rerun_grpc_url: str | None = None
+        self._grpc_port = grpc_port
+        self._bridge_factory = bridge_factory or RerunBridge
+        self._bridge: RerunBridge | None = None
+        self._closed = False
+        self._scene_settings = RerunSceneSettings()
        self._metrics = BridgeMetrics()

    def snapshot(self) -> RuntimeSnapshot:
@ -59,9 +75,17 @@ class VisualizationRuntime:
                "source_mode": self._source_mode,
                "foxglove_ws_url": self._foxglove_ws_url,
                "foxglove_viewer_url": self._foxglove_viewer_url,
+                "rerun_grpc_url": self._rerun_grpc_url,
+                "viewer_settings": self._scene_settings.as_dict(),
                "metrics": self._metrics.snapshot(),
            }

+    def update_scene_settings(self, settings: RerunSceneSettings) -> RuntimeSnapshot:
+        with self._lock:
+            self._scene_settings = settings
+        self._notify()
+        return self.snapshot()
+
    def start_replay(self, path: Path, *, speed: float = 1.0, loop: bool = False) -> None:
        resolved = path.expanduser().resolve()
        if not resolved.is_file():
@ -123,6 +147,34 @@ class VisualizationRuntime:
        assert thread is not None
        thread.join(timeout=wait_seconds)

+    def close(self, *, wait_seconds: float = 5.0) -> None:
+        """Stop the active source and release the process-wide visual bridge."""
+        with self._lock:
+            self._closed = True
+            thread = self._thread
+            if thread is not None and thread.is_alive():
+                self._phase = "stopping"
+                self._message = "Завершаем локальный поток и визуальный мост."
+                self._stop_event.set()
+            else:
+                self._phase = "idle"
+                self._source_mode = "idle"
+                self._message = "Локальный поток завершён."
+        self._notify()
+
+        if thread is not None and thread.is_alive():
+            thread.join(timeout=wait_seconds)
+
+        with self._lock:
+            thread_alive = self._thread is not None and self._thread.is_alive()
+            bridge = None if thread_alive else self._bridge
+            if not thread_alive:
+                self._bridge = None
+                self._rerun_grpc_url = None
+        if bridge is not None:
+            bridge.close()
+        self._notify()
+
    def _start(
        self,
        *,
@ -132,6 +184,8 @@ class VisualizationRuntime:
        target: Callable[[], None],
    ) -> None:
        with self._lock:
+            if self._closed:
+                raise RuntimeError("runtime завершён; перезапустите локальный сервер")
            if self._thread is not None and self._thread.is_alive():
                raise RuntimeError("поток уже запущен; сначала остановите текущую сессию")
            self._stop_event = threading.Event()
@ -221,6 +275,7 @@ class VisualizationRuntime:
        messages: queue.Queue[StreamMessage] = queue.Queue(maxsize=32)
        source_done = threading.Event()
        publisher_ready = threading.Event()
+        publisher_aborted = threading.Event()
        publisher_error: list[BaseException] = []

        def enqueue(message: StreamMessage) -> None:
@ -241,19 +296,41 @@ class VisualizationRuntime:
                self._metrics.preview_dropped()

        def publish() -> None:
-            bridge: FoxgloveBridge | None = None
+            bridge: RerunBridge | None = None
            try:
-                bridge = FoxgloveBridge(metrics=self._metrics)
+                bridge = self._bridge
+                if bridge is None:
+                    candidate = self._bridge_factory(
+                        grpc_port=self._grpc_port,
+                        metrics=self._metrics,
+                        settings_provider=self._current_scene_settings,
+                    )
+                    with self._lock:
+                        if self._closed:
+                            publisher_aborted.set()
+                        else:
+                            self._bridge = candidate
+                            bridge = candidate
+                    if publisher_aborted.is_set():
+                        candidate.close()
+                        publisher_ready.set()
+                        return
+                assert bridge is not None
+                bridge.begin_session(self._metrics)
                with self._lock:
-                    self._foxglove_ws_url = bridge.websocket_url
-                    self._foxglove_viewer_url = bridge.viewer_url
-                    if self._phase != "stopping":
+                    if self._closed:
+                        publisher_aborted.set()
+                    else:
+                        self._rerun_grpc_url = bridge.grpc_url
+                    if not self._closed and self._phase != "stopping":
                        self._phase = running_phase
                        self._message = (
-                            "Локальный мост визуализации готов; источник данных запущен."
+                            "Локальный Rerun-мост готов; источник данных запущен."
                        )
                publisher_ready.set()
                self._notify()
+                if publisher_aborted.is_set():
+                    return
                while not source_done.is_set() or not messages.empty():
                    if self._stop_event.is_set() and source_done.is_set() and messages.empty():
                        break
@ -268,19 +345,43 @@ class VisualizationRuntime:
                    if self._metrics.snapshot()["messages_received"] % 10 == 0:
                        self._notify()
            except BaseException as exc:
-                publisher_error.append(exc)
+                with self._lock:
+                    closed = self._closed
+                if not closed:
+                    publisher_error.append(exc)
+                else:
+                    publisher_aborted.set()
                publisher_ready.set()
                self._stop_event.set()
            finally:
                if bridge is not None:
-                    bridge.close()
+                    with self._lock:
+                        close_bridge = self._closed and self._bridge is bridge
+                        if close_bridge:
+                            self._bridge = None
+                            self._rerun_grpc_url = None
+                    if close_bridge:
+                        bridge.close()

-        publisher = threading.Thread(target=publish, name="k1-foxglove-publisher", daemon=True)
+        def join_publisher() -> None:
+            # Never orphan a publisher: the session thread remains its owner.
+            # On process shutdown both are daemon threads, so an irrecoverably
+            # blocked native call cannot prevent the operating system from exit.
+            while publisher.is_alive():
+                publisher.join(timeout=0.25)
+
+        publisher = threading.Thread(target=publish, name="k1-rerun-publisher", daemon=True)
        publisher.start()
        if not publisher_ready.wait(timeout=15.0):
            self._finish_error("Локальный мост визуализации не запустился за 15 секунд.")
            source_done.set()
            self._stop_event.set()
+            join_publisher()
+            return
+        if publisher_aborted.is_set():
+            source_done.set()
+            self._stop_event.set()
+            join_publisher()
            return
        if publisher_error:
            self._finish_error(
@ -288,6 +389,7 @@ class VisualizationRuntime:
                f"{type(publisher_error[0]).__name__}: {publisher_error[0]}"
            )
            source_done.set()
+            join_publisher()
            return

        final_message = "Поток остановлен."
@ -299,11 +401,8 @@ class VisualizationRuntime:
            self._finish_error(f"Ошибка источника: {type(exc).__name__}: {exc}")
        finally:
            source_done.set()
-            publisher.join(timeout=15.0)
-            if publisher.is_alive():
-                self._stop_event.set()
-                self._finish_error("Очередь публикации не завершилась за 15 секунд.")
-            elif publisher_error:
+            join_publisher()
+            if publisher_error:
                self._finish_error(
                    f"Ошибка публикации: {type(publisher_error[0]).__name__}: {publisher_error[0]}"
                )
@ -334,6 +433,10 @@ class VisualizationRuntime:
            self._foxglove_viewer_url = None
        self._notify()

+    def _current_scene_settings(self) -> RerunSceneSettings:
+        with self._lock:
+            return self._scene_settings
+
    def _notify(self) -> None:
        callback = self._on_state_change
        if callback is not None:
@ -360,7 +463,7 @@ def _write_live_session_preamble(out_dir: Path, host: str, duration_seconds: flo
            "schema_version": 1,
            "started_at_utc": started_at_utc,
            "started_monotonic_ns": time.monotonic_ns(),
-            "operation": "k1_live_mqtt_to_foxglove",
+            "operation": "k1_live_mqtt_to_rerun",
            "target": "owner-controlled K1 at redacted RFC1918 address",
            "requested_duration_seconds": duration_seconds,
            "raw_capture": "captures/mqtt_live/mqtt.raw.k1mqtt",
@ -370,7 +473,7 @@ def _write_live_session_preamble(out_dir: Path, host: str, duration_seconds: flo
    notes = (
        "# K1 live visualization session\n\n"
        f"Started UTC: {started_at_utc}\n\n"
-        "The local control API started a read-only MQTT subscription and Foxglove "
+        "The local control API started a read-only MQTT subscription and Rerun "
        "preview. Raw MQTT evidence is written before preview decoding. The target "
        f"was a validated private IPv4 address ({host.rsplit('.', 1)[0]}.x).\n"
    )
--- a/src/k1link/web/app.py
+++ b/src/k1link/web/app.py
@ -2,10 +2,11 @@ from __future__ import annotations

 import asyncio
 import threading
-from collections.abc import Mapping
+from collections.abc import AsyncIterator, Mapping
+from contextlib import asynccontextmanager
 from datetime import UTC, datetime
 from pathlib import Path
-from typing import Any
+from typing import Any, Literal

 from bleak.exc import BleakError
 from fastapi import FastAPI, HTTPException, WebSocket, WebSocketDisconnect
@ -17,6 +18,7 @@ from k1link.artifacts import write_json_atomic
 from k1link.ble.scanner import scan
 from k1link.ble.wifi_provisioning import AP_FALLBACK_IPV4, provision_wifi_once
 from k1link.mqtt import validate_private_ipv4
+from k1link.viewer.rerun_bridge import RerunSceneSettings
 from k1link.viewer.runtime import VisualizationRuntime, new_live_session_dir

 REPOSITORY_ROOT = Path(__file__).resolve().parents[3]
@ -43,6 +45,17 @@ class ReplayRequest(BaseModel):
    loop: bool = False


+class ViewerSettingsRequest(BaseModel):
+    point_size: float = Field(default=2.5, ge=0.5, le=12.0)
+    color_mode: Literal["intensity", "height", "distance", "rgb", "class"] = "intensity"
+    palette: Literal["turbo", "viridis", "plasma", "grayscale", "custom"] = "turbo"
+    custom_color: str = Field(default="#f7f8f4", pattern=r"^#[0-9A-Fa-f]{6}$")
+    accumulation_seconds: float = Field(default=12.0, ge=0.0, le=120.0)
+    show_points: bool = True
+    show_trajectory: bool = True
+    show_grid: bool = True
+
+
 class ConsoleService:
    def __init__(self, repository_root: Path) -> None:
        self.repository_root = repository_root.resolve()
@ -100,6 +113,8 @@ class ConsoleService:
            "k1_ip": k1_ip,
            "foxglove_ws_url": runtime["foxglove_ws_url"],
            "foxglove_viewer_url": runtime["foxglove_viewer_url"],
+            "rerun_grpc_url": runtime["rerun_grpc_url"],
+            "viewer_settings": runtime["viewer_settings"],
            "source_mode": runtime["source_mode"],
            "metrics": {
                "pipeline_ms": metrics["mqtt_to_publish_ms"],
@ -213,6 +228,21 @@ class ConsoleService:
        self.runtime.stop()
        return self.state()

+    def update_viewer_settings(self, request: ViewerSettingsRequest) -> dict[str, Any]:
+        self.runtime.update_scene_settings(
+            RerunSceneSettings(
+                point_size=request.point_size,
+                color_mode=request.color_mode,
+                palette=request.palette,
+                custom_color=request.custom_color,
+                accumulation_seconds=request.accumulation_seconds,
+                show_points=request.show_points,
+                show_trajectory=request.show_trajectory,
+                show_grid=request.show_grid,
+            )
+        )
+        return self.state()
+
    def _set_operation(self, phase: str, message: str) -> None:
        with self._lock:
            self._operation_phase = phase
@ -220,12 +250,23 @@ class ConsoleService:


 service = ConsoleService(REPOSITORY_ROOT)
+
+
+@asynccontextmanager
+async def app_lifespan(_: FastAPI) -> AsyncIterator[None]:
+    try:
+        yield
+    finally:
+        service.runtime.close()
+
+
 app = FastAPI(
    title="NODE.DC Device Control API",
    version=__version__,
    docs_url="/api/docs",
    redoc_url=None,
    openapi_url="/api/openapi.json",
+    lifespan=app_lifespan,
 )


@ -284,6 +325,11 @@ def stop_session() -> dict[str, Any]:
    return service.stop()


+@app.post("/api/viewer/settings")
+def update_viewer_settings(request: ViewerSettingsRequest) -> dict[str, Any]:
+    return service.update_viewer_settings(request)
+
+
@app.websocket("/api/events")
 async def events(websocket: WebSocket) -> None:
    await websocket.accept()
--- a/tests/test_rerun_bridge.py
+++ b/tests/test_rerun_bridge.py
@ -0,0 +1,281 @@
+from __future__ import annotations
+
+import json
+import socket
+import struct
+import threading
+import time
+from pathlib import Path
+
+import numpy as np
+import pytest
+
+from k1link.mqtt.capture import FRAME_HEADER, RAW_MAGIC
+from k1link.viewer.messages import StreamMessage
+from k1link.viewer.rerun_bridge import RerunBridge, RerunSceneSettings, _point_colors
+from k1link.viewer.runtime import VisualizationRuntime
+
+
+class FakeRecording:
+    def __init__(self) -> None:
+        self.logs: list[tuple[str, object, bool]] = []
+        self.times: list[tuple[str, dict[str, object]]] = []
+        self.blueprints: list[object] = []
+        self.disconnected = False
+
+    def serve_grpc(self, **_: object) -> str:
+        return "rerun+http://127.0.0.1:9876/proxy"
+
+    def log(self, path: str, entity: object, *, static: bool = False) -> None:
+        self.logs.append((path, entity, static))
+
+    def set_time(self, timeline: str, **value: object) -> None:
+        self.times.append((timeline, value))
+
+    def send_blueprint(self, blueprint: object, **_: object) -> None:
+        self.blueprints.append(blueprint)
+
+    def disconnect(self) -> None:
+        self.disconnected = True
+
+    def flush(self, **_: object) -> None:
+        return
+
+
+def _message(topic: str, payload: bytes, *, sequence: int = 7) -> StreamMessage:
+    return StreamMessage(
+        sequence=sequence,
+        topic=topic,
+        payload=payload,
+        received_at_epoch_ns=1_784_124_315_186_225_000,
+        received_monotonic_ns=None,
+        source="test",
+    )
+
+
+def test_legacy_points_and_pose_are_logged_to_rerun() -> None:
+    recording = FakeRecording()
+    bridge = RerunBridge(recording_factory=lambda _: recording)  # type: ignore[arg-type]
+
+    point_payload = struct.pack("<III", 16, 0, 0) + struct.pack(
+        "<fffBBBB", 1.0, -2.0, 3.0, 10, 20, 30, 40
+    )
+    pose_payload = struct.pack(
+        "<ffffffff", 1.0, 2.0, 3.0, 99.0, 0.9, 0.1, 0.2, 0.3
+    )
+    bridge.process(_message("RealtimePointcloud", point_payload))
+    bridge.process(_message("RealtimePath", pose_payload, sequence=8))
+
+    paths = [path for path, _, _ in recording.logs]
+    snapshot = bridge.metrics.snapshot()
+    assert bridge.grpc_url == "rerun+http://127.0.0.1:9876/proxy"
+    assert "/world/points" in paths
+    assert "/world/sensor_pose" in paths
+    assert "/world/trajectory" in paths
+    assert snapshot["pcl_frames"] == 1
+    assert snapshot["pose_frames"] == 1
+    assert snapshot["last_point_count"] == 1
+    assert {timeline for timeline, _ in recording.times} == {
+        "capture_time",
+        "message_sequence",
+        "stream_time",
+    }
+
+    bridge.close()
+    assert recording.disconnected is True
+
+
+def test_bad_frame_is_counted_without_publishing() -> None:
+    recording = FakeRecording()
+    bridge = RerunBridge(recording_factory=lambda _: recording)  # type: ignore[arg-type]
+
+    bridge.process(_message("RealtimePointcloud", b"short"))
+
+    snapshot = bridge.metrics.snapshot()
+    assert snapshot["messages_received"] == 1
+    assert snapshot["decode_errors"] == 1
+    assert not any(path == "/world/points" for path, _, _ in recording.logs)
+
+
+def test_palettes_are_deterministic_and_custom_color_is_exact() -> None:
+    positions = np.asarray([[0, 0, 0], [0, 0, 10]], dtype=np.float32)
+    intensities = np.asarray([0, 255], dtype=np.uint8)
+
+    height = _point_colors(
+        positions,
+        intensities,
+        None,
+        RerunSceneSettings(color_mode="height", palette="viridis"),
+    )
+    custom = _point_colors(
+        positions,
+        intensities,
+        None,
+        RerunSceneSettings(color_mode="class", custom_color="#102030"),
+    )
+
+    assert height.shape == (2, 3)
+    assert height.dtype == np.uint8
+    assert height[0].tolist() == [68, 1, 84]
+    assert height[1].tolist() == [253, 231, 37]
+    assert custom.tolist() == [[16, 32, 48], [16, 32, 48]]
+
+
+def test_real_grpc_server_releases_its_port() -> None:
+    probe = socket.socket()
+    probe.bind(("127.0.0.1", 0))
+    port = int(probe.getsockname()[1])
+    probe.close()
+
+    bridge = RerunBridge(
+        grpc_port=port,
+        cors_allow_origin=("http://127.0.0.1:8000",),
+    )
+    assert bridge.grpc_url == f"rerun+http://127.0.0.1:{port}/proxy"
+    bridge.close()
+
+    deadline = time.monotonic() + 2.0
+    while True:
+        available = socket.socket()
+        try:
+            available.bind(("127.0.0.1", port))
+            break
+        except OSError:
+            if time.monotonic() >= deadline:
+                raise
+            time.sleep(0.02)
+        finally:
+            available.close()
+
+
+def test_runtime_exposes_rerun_url_and_stops_cleanly(tmp_path: Path) -> None:
+    capture = tmp_path / "mqtt.raw.k1mqtt"
+    point_topic = "RealtimePointcloud"
+    pose_topic = "RealtimePath"
+    point_payload = struct.pack("<III", 16, 0, 0) + struct.pack(
+        "<fffBBBB", 1.0, -2.0, 3.0, 10, 20, 30, 40
+    )
+    pose_payload = struct.pack(
+        "<ffffffff", 1.0, 2.0, 3.0, 99.0, 0.9, 0.1, 0.2, 0.3
+    )
+    frames = bytearray(RAW_MAGIC)
+    for topic, payload in ((point_topic, point_payload), (pose_topic, pose_payload)):
+        topic_raw = topic.encode()
+        frames.extend(FRAME_HEADER.pack(len(topic_raw), len(payload)))
+        frames.extend(topic_raw)
+        frames.extend(payload)
+    capture.write_bytes(frames)
+    metadata = [
+        {
+            "record_type": "message",
+            "sequence": 1,
+            "received_at_epoch_ns": 1_000_000_000,
+            "received_monotonic_ns": 1_000_000_000,
+        },
+        {
+            "record_type": "message",
+            "sequence": 2,
+            "received_at_epoch_ns": 11_000_000_000,
+            "received_monotonic_ns": 11_000_000_000,
+        },
+    ]
+    (tmp_path / "mqtt.metadata.jsonl").write_text(
+        "".join(json.dumps(item) + "\n" for item in metadata),
+        encoding="utf-8",
+    )
+
+    recording = FakeRecording()
+    created: list[RerunBridge] = []
+
+    def bridge_factory(**kwargs: object) -> RerunBridge:
+        bridge = RerunBridge(
+            recording_factory=lambda _: recording,  # type: ignore[arg-type]
+            **kwargs,  # type: ignore[arg-type]
+        )
+        created.append(bridge)
+        return bridge
+
+    runtime = VisualizationRuntime(
+        bridge_factory=bridge_factory,
+    )
+    runtime.start_replay(capture, speed=1.0)
+    deadline = time.monotonic() + 5.0
+    snapshot = runtime.snapshot()
+    while time.monotonic() < deadline:
+        snapshot = runtime.snapshot()
+        if snapshot["rerun_grpc_url"] and snapshot["metrics"]["pcl_frames"] == 1:
+            break
+        time.sleep(0.05)
+
+    assert snapshot["rerun_grpc_url"] == "rerun+http://127.0.0.1:9876/proxy"
+    assert snapshot["metrics"]["pcl_frames"] == 1
+    assert snapshot["metrics"]["mqtt_to_publish_ms"] is None
+    runtime.stop(wait_seconds=5.0)
+    assert runtime.snapshot()["phase"] == "idle"
+    assert runtime.snapshot()["rerun_grpc_url"] == "rerun+http://127.0.0.1:9876/proxy"
+    assert recording.disconnected is False
+
+    runtime.start_replay(capture, speed=0.0)
+    deadline = time.monotonic() + 5.0
+    while time.monotonic() < deadline:
+        if runtime.snapshot()["metrics"]["pcl_frames"] == 1:
+            break
+        time.sleep(0.05)
+    runtime.stop(wait_seconds=5.0)
+
+    assert len(created) == 1
+    assert runtime.snapshot()["metrics"]["pcl_frames"] == 1
+    runtime.close()
+    assert runtime.snapshot()["rerun_grpc_url"] is None
+    assert recording.disconnected is True
+
+
+def test_close_during_blocked_factory_closes_the_late_bridge(tmp_path: Path) -> None:
+    capture = tmp_path / "mqtt.raw.k1mqtt"
+    topic = b"RealtimePointcloud"
+    payload = struct.pack("<III", 16, 0, 0) + struct.pack(
+        "<fffBBBB", 1.0, -2.0, 3.0, 10, 20, 30, 40
+    )
+    capture.write_bytes(
+        RAW_MAGIC + FRAME_HEADER.pack(len(topic), len(payload)) + topic + payload
+    )
+    (tmp_path / "mqtt.metadata.jsonl").write_text(
+        json.dumps(
+            {
+                "record_type": "message",
+                "sequence": 1,
+                "received_at_epoch_ns": 1_000_000_000,
+                "received_monotonic_ns": 1_000_000_000,
+            }
+        )
+        + "\n",
+        encoding="utf-8",
+    )
+
+    factory_entered = threading.Event()
+    release_factory = threading.Event()
+    recording = FakeRecording()
+
+    def blocked_factory(**kwargs: object) -> RerunBridge:
+        factory_entered.set()
+        assert release_factory.wait(timeout=5.0)
+        return RerunBridge(
+            recording_factory=lambda _: recording,  # type: ignore[arg-type]
+            **kwargs,  # type: ignore[arg-type]
+        )
+
+    runtime = VisualizationRuntime(bridge_factory=blocked_factory)
+    runtime.start_replay(capture, speed=0.0)
+    assert factory_entered.wait(timeout=2.0)
+
+    runtime.close(wait_seconds=0.01)
+    release_factory.set()
+    deadline = time.monotonic() + 2.0
+    while time.monotonic() < deadline and not recording.disconnected:
+        time.sleep(0.01)
+    runtime.close(wait_seconds=1.0)
+
+    assert recording.disconnected is True
+    assert runtime.snapshot()["rerun_grpc_url"] is None
+    with pytest.raises(RuntimeError, match="runtime завершён"):
+        runtime.start_replay(capture, speed=0.0)
--- a/tests/test_web_console.py
+++ b/tests/test_web_console.py
@ -46,3 +46,30 @@ def test_ble_scan_exposes_every_device_and_only_labels_likely_k1(
    ]
    assert [device["likely_k1"] for device in state["devices"]] == [True, False]

+
+def test_viewer_settings_are_validated_and_exposed(tmp_path: Path) -> None:
+    service = web_app.ConsoleService(tmp_path)
+    request = web_app.ViewerSettingsRequest(
+        point_size=4.0,
+        color_mode="height",
+        palette="viridis",
+        custom_color="#102030",
+        accumulation_seconds=18,
+        show_points=True,
+        show_trajectory=False,
+        show_grid=False,
+    )
+
+    state = service.update_viewer_settings(request)
+
+    assert state["rerun_grpc_url"] is None
+    assert state["viewer_settings"] == {
+        "point_size": 4.0,
+        "color_mode": "height",
+        "palette": "viridis",
+        "custom_color": "#102030",
+        "accumulation_seconds": 18.0,
+        "show_points": True,
+        "show_trajectory": False,
+        "show_grid": False,
+    }
--- a/uv.lock
+++ b/uv.lock
@ -33,6 +33,15 @@ wheels = [
    { url = "https://files.pythonhosted.org/packages/da/35/f2287558c17e29fafc8ef3daf819bb9834061cfa43bff8014f7df7f63bdc/anyio-4.14.2-py3-none-any.whl", hash = "sha256:9f505dda5ac9f0c8309b5e8bd445a8c2bf7246f3ce950121e45ea15bc41d1494", size = 125813, upload-time = "2026-07-12T20:29:05.763Z" },
 ]

+[[package]]
+name = "attrs"
+version = "26.1.0"
+source = { registry = "https://pypi.org/simple" }
+sdist = { url = "https://files.pythonhosted.org/packages/9a/8e/82a0fe20a541c03148528be8cac2408564a6c9a0cc7e9171802bc1d26985/attrs-26.1.0.tar.gz", hash = "sha256:d03ceb89cb322a8fd706d4fb91940737b6642aa36998fe130a9bc96c985eff32", size = 952055, upload-time = "2026-03-19T14:22:25.026Z" }
+wheels = [
+    { url = "https://files.pythonhosted.org/packages/64/b4/17d4b0b2a2dc85a6df63d1157e028ed19f90d4cd97c36717afef2bc2f395/attrs-26.1.0-py3-none-any.whl", hash = "sha256:c647aa4a12dfbad9333ca4e71fe62ddc36f4e63b2d260a37a8b83d2f043ac309", size = 67548, upload-time = "2026-03-19T14:22:23.645Z" },
+]
+
 [[package]]
 name = "bleak"
 version = "3.0.2"
@ -269,6 +278,7 @@ dependencies = [
    { name = "foxglove-sdk" },
    { name = "lz4" },
    { name = "paho-mqtt" },
+    { name = "rerun-sdk" },
    { name = "rich" },
    { name = "typer" },
    { name = "uvicorn", extra = ["standard"] },
@ -288,6 +298,7 @@ requires-dist = [
    { name = "foxglove-sdk", specifier = "==0.25.3" },
    { name = "lz4", specifier = ">=4.4,<5" },
    { name = "paho-mqtt", specifier = ">=2.1,<3" },
+    { name = "rerun-sdk", specifier = "==0.34.1" },
    { name = "rich", specifier = ">=13.9,<15" },
    { name = "typer", specifier = ">=0.15,<1" },
    { name = "uvicorn", extras = ["standard"], specifier = ">=0.35,<1" },
@ -300,6 +311,25 @@ dev = [
    { name = "ruff", specifier = ">=0.11,<1" },
 ]

+[[package]]
+name = "numpy"
+version = "2.5.1"
+source = { registry = "https://pypi.org/simple" }
+sdist = { url = "https://files.pythonhosted.org/packages/22/fd/89965aa4ac08c74998539fcbf24fa3540f3e15237fbeb6bcf9c908f4aade/numpy-2.5.1.tar.gz", hash = "sha256:a48a113e6afea91f5608793bafa7ef2ad481fefbda87ec5069f483de61cb9fa3", size = 20755553, upload-time = "2026-07-04T17:08:00.933Z" }
+wheels = [
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+    { url = "https://files.pythonhosted.org/packages/e1/19/cc5bb2a3f2913d27d6dbb2c78d25921fabaedc6741d4a5a615a11f3c5bf3/numpy-2.5.1-cp312-cp312-macosx_11_0_arm64.whl", hash = "sha256:ab451b59c5643c570974c43aef780703ef1d3b4965d2be07afd530615a9358d1", size = 11772250, upload-time = "2026-07-04T17:06:15.726Z" },
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