feat(planning): consolidate recorded-route localization and spatial scene

Preserve the completed teach-and-repeat laboratory stage: reference preparation, cascaded acquisition, local tracking and recovery, recording lifecycle, replay qualification, and persistent Rerun scene controls. Document the open grid-picking regression and Rerun upgrade contract. No autonomous driving or loop-closure optimization is claimed.
2026-09-21 08:47:19 +03:00
parent be58d589e2
commit e515ab1b8c
189 changed files with 19074 additions and 758 deletions
@@ -33,6 +33,9 @@ missioncore-plugin-sdk = { path = "packages/plugin-sdk", editable = true }
 [project.optional-dependencies]
 perception-stream = ["grpcio>=1.76,<2"]
 node-device-media = ["aiortc==1.14.0"]
+localization = [
+    "small-gicp==1.0.1",
+]

 [project.scripts]
 k1link = "k1link.device_plugins.xgrids_k1.cli:app"