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.

tests/test_local_service_launchd.py

@@ -58,6 +58,8 @@ def test_launch_agent_plan_disables_sync_and_enables_watchdog(tmp_path: Path) ->
     assert desired["RunAtLoad"] is True
     assert desired["AbandonProcessGroup"] is False
     assert desired["ExitTimeOut"] == 20
+    assert desired["ProcessType"] == "Interactive"
+    assert plan.to_dict()["desired_process_type"] == "Interactive"
     assert plan.current_sha256 != plan.desired_sha256
     assert plan.current_working_directory == repository
     assert plan.desired_working_directory == repository
@@ -68,6 +70,28 @@ def test_launch_agent_plan_disables_sync_and_enables_watchdog(tmp_path: Path) ->
     assert plan.to_dict()["changes"]["local_observatory_worker_enabled"] is False
 
 
+def test_background_migration_changes_scheduling_without_changing_operator_state(tmp_path):
+    repository = tmp_path / "repo"
+    repository.mkdir()
+    uv = tmp_path / "uv"
+    uv.write_text("#!/bin/sh\n")
+    agent = tmp_path / "agent.plist"
+    environment = {"PATH": "/usr/bin:/bin", "MISSIONCORE_DATA_DIR": "/existing/evidence"}
+    _write_agent(path=agent, repository=repository, uv_entrypoint=uv, environment=environment)
+    previous = plistlib.loads(agent.read_bytes())
+    previous["ProcessType"] = "Background"
+    agent.write_bytes(plistlib.dumps(previous))
+    original = agent.read_bytes()
+    plan = plan_mission_core_launch_agent(repository_root=repository, agent_path=agent)
+    desired = plistlib.loads(plan.desired_payload)
+    assert plan.current_process_type == "Background"
+    assert desired["ProcessType"] == "Interactive"
+    assert desired["EnvironmentVariables"] == {**environment, "MISSIONCORE_SERVICE_WATCHDOG": "1"}
+    assert desired["AbandonProcessGroup"] is False
+    assert "Nice" not in desired and "HardResourceLimits" not in desired
+    assert agent.read_bytes() == original  # A plan never changes the running service.
+
+
 def test_launch_agent_plan_explicitly_enables_local_observatory_worker(
     tmp_path: Path,
 ) -> None: