docs(node): reconcile release status and build provenance for 0.6.11

Preserve rolling points and original clocks; expose per-modality ages, held pose and rejection reasons. Saved-lineage audit changes only the first admission (75 to 76 of 128). No new model/performance claim. 384 focused Python and 62 frontend tests passed.

apps/control-station/package-lock.json

@@ -7,7 +7,6 @@
     "": {
       "name": "@nodedc/mission-core-control-station",
       "version": "0.1.0",
-      "hasInstallScript": true,
       "dependencies": {
         "@noble/hashes": "^2.2.0",
         "@nodedc/map-cesium-react": "file:../../../NODEDC_DESIGN_GUIDELINE/packages/map-cesium-react",
@@ -15,7 +14,8 @@
         "@nodedc/tokens": "file:../../../NODEDC_DESIGN_GUIDELINE/packages/tokens",
         "@nodedc/ui-core": "file:../../../NODEDC_DESIGN_GUIDELINE/packages/ui-core",
         "@nodedc/ui-react": "file:../../../NODEDC_DESIGN_GUIDELINE/packages/ui-react",
-        "@rerun-io/web-viewer": "0.34.1",
+        "@rerun-io/web-viewer": "0.36.3",
+        "meshoptimizer": "1.1.1",
         "playcanvas": "2.21.4",
         "react": "^19.1.0",
         "react-dom": "^19.1.0",
@@ -899,9 +899,9 @@
       "link": true
     },
     "node_modules/@rerun-io/web-viewer": {
-      "version": "0.34.1",
-      "resolved": "https://registry.npmjs.org/@rerun-io/web-viewer/-/web-viewer-0.34.1.tgz",
-      "integrity": "sha512-2Oq9Mw3qOs765XArGq4e/0pAIksPFKlAqkgo+PDsRkPd77/KdnQhb835suRmYQ6tuqlbPeVCFhlNIXT0+TjmTg==",
+      "version": "0.36.3",
+      "resolved": "https://registry.npmjs.org/@rerun-io/web-viewer/-/web-viewer-0.36.3.tgz",
+      "integrity": "sha512-LMGnsxRmY5UwiGras2dZrMnEYkow5Xr4v+1hAUSspXWPPiilMqoz9G77jo8Ps/deAaX81TnOq123DFO8iX/Ulw==",
       "license": "MIT"
     },
     "node_modules/@rolldown/pluginutils": {
@@ -1661,7 +1661,6 @@
       "version": "1.1.1",
       "resolved": "https://registry.npmjs.org/meshoptimizer/-/meshoptimizer-1.1.1.tgz",
       "integrity": "sha512-oRFNWJRDA/WTrVj7NWvqa5HqE1t9MYDj2VaWirQCzCCrAd2GHrqR/sQezCxiWATPNlKTcRaPRHPJwIRoPBAp5g==",
-      "dev": true,
       "license": "MIT"
     },
     "node_modules/ms": {

apps/control-station/package.json

@@ -4,7 +4,6 @@
   "private": true,
   "type": "module",
   "scripts": {
-    "postinstall": "node scripts/patch-rerun-web-viewer.mjs",
     "dev": "vite",
     "build": "tsc -b && vite build",
     "preview": "vite preview",
@@ -18,7 +17,8 @@
     "@nodedc/tokens": "file:../../../NODEDC_DESIGN_GUIDELINE/packages/tokens",
     "@nodedc/ui-core": "file:../../../NODEDC_DESIGN_GUIDELINE/packages/ui-core",
     "@nodedc/ui-react": "file:../../../NODEDC_DESIGN_GUIDELINE/packages/ui-react",
-    "@rerun-io/web-viewer": "0.34.1",
+    "@rerun-io/web-viewer": "0.36.3",
+    "meshoptimizer": "1.1.1",
     "playcanvas": "2.21.4",
     "react": "^19.1.0",
     "react-dom": "^19.1.0",

apps/control-station/public/vendor/playcanvas/ammo/2026-08-25/BUILD_INFO.md

@@ -0,0 +1,9 @@
+# PlayCanvas Ammo runtime
+
+- Source: `https://developer.playcanvas.com/assets/modules/ammo/ammo.wasm.js`
+- Source: `https://developer.playcanvas.com/assets/modules/ammo/ammo.wasm.wasm`
+- Retrieved: 2026-08-27
+- `ammo.wasm.js`: 442459 bytes, SHA-256 `9b765569bce6993e781cd95d548c3711b119f355b512b25722e86a27d6ea8857`
+- `ammo.wasm.wasm`: 747690 bytes, SHA-256 `a73b547ed4289aa174bf3424b14b3cb8addc7fe708cd2636d306b72880d6ad13`
+
+The control station loads these pinned same-origin assets before constructing the PlayCanvas application so the rigid-body systems bind to the expected Ammo instance.

apps/control-station/public/vendor/playcanvas/ammo/2026-08-25/ammo.wasm.js

@@ -0,0 +1,921 @@
+// This is ammo.js, a port of Bullet Physics to JavaScript. zlib licensed.
+
+var Ammo = (() => {
+  var _scriptDir = typeof document !== 'undefined' && document.currentScript ? document.currentScript.src : undefined;
+  if (typeof __filename !== 'undefined') _scriptDir = _scriptDir || __filename;
+  return (
+function(Ammo = {})  {
+
+var b;b||(b=typeof Ammo !== 'undefined' ? Ammo : {});var aa,ba;b.ready=new Promise(function(a,c){aa=a;ba=c});var ca=Object.assign({},b),da="object"==typeof window,ea="function"==typeof importScripts,fa="object"==typeof process&&"object"==typeof process.versions&&"string"==typeof process.versions.node,ha="",ia,ja,ka;
+if(fa){var fs=require("fs"),la=require("path");ha=ea?la.dirname(ha)+"/":__dirname+"/";ia=(a,c)=>{a=a.startsWith("file://")?new URL(a):la.normalize(a);return fs.readFileSync(a,c?void 0:"utf8")};ka=a=>{a=ia(a,!0);a.buffer||(a=new Uint8Array(a));return a};ja=(a,c,d)=>{a=a.startsWith("file://")?new URL(a):la.normalize(a);fs.readFile(a,function(e,g){e?d(e):c(g.buffer)})};1<process.argv.length&&process.argv[1].replace(/\\/g,"/");process.argv.slice(2);b.inspect=function(){return"[Emscripten Module object]"}}else if(da||
+ea)ea?ha=self.location.href:"undefined"!=typeof document&&document.currentScript&&(ha=document.currentScript.src),_scriptDir&&(ha=_scriptDir),ha=0!==ha.indexOf("blob:")?ha.substr(0,ha.replace(/[?#].*/,"").lastIndexOf("/")+1):"",ia=a=>{var c=new XMLHttpRequest;c.open("GET",a,!1);c.send(null);return c.responseText},ea&&(ka=a=>{var c=new XMLHttpRequest;c.open("GET",a,!1);c.responseType="arraybuffer";c.send(null);return new Uint8Array(c.response)}),ja=(a,c,d)=>{var e=new XMLHttpRequest;e.open("GET",a,
+!0);e.responseType="arraybuffer";e.onload=()=>{200==e.status||0==e.status&&e.response?c(e.response):d()};e.onerror=d;e.send(null)};b.print||console.log.bind(console);var ma=b.printErr||console.warn.bind(console);Object.assign(b,ca);ca=null;var na;b.wasmBinary&&(na=b.wasmBinary);var noExitRuntime=b.noExitRuntime||!0;"object"!=typeof WebAssembly&&oa("no native wasm support detected");var pa,qa=!1,ra="undefined"!=typeof TextDecoder?new TextDecoder("utf8"):void 0;
+function sa(a,c){if(a){var d=ta,e=a+c;for(c=a;d[c]&&!(c>=e);)++c;if(16<c-a&&d.buffer&&ra)a=ra.decode(d.subarray(a,c));else{for(e="";a<c;){var g=d[a++];if(g&128){var n=d[a++]&63;if(192==(g&224))e+=String.fromCharCode((g&31)<<6|n);else{var z=d[a++]&63;g=224==(g&240)?(g&15)<<12|n<<6|z:(g&7)<<18|n<<12|z<<6|d[a++]&63;65536>g?e+=String.fromCharCode(g):(g-=65536,e+=String.fromCharCode(55296|g>>10,56320|g&1023))}}else e+=String.fromCharCode(g)}a=e}}else a="";return a}
+var ua,ta,va,wa,xa,ya,za=[],Aa=[],Ba=[],Ca=!1;function Ea(){var a=b.preRun.shift();za.unshift(a)}var Fa=0,Ga=null,Ha=null;function oa(a){if(b.onAbort)b.onAbort(a);a="Aborted("+a+")";ma(a);qa=!0;a=new WebAssembly.RuntimeError(a+". Build with -sASSERTIONS for more info.");ba(a);throw a;}function Ia(a){return a.startsWith("data:application/octet-stream;base64,")}var Ja;Ja="ammo.wasm.wasm";if(!Ia(Ja)){var Ka=Ja;Ja=b.locateFile?b.locateFile(Ka,ha):ha+Ka}
+function La(a){try{if(a==Ja&&na)return new Uint8Array(na);if(ka)return ka(a);throw"both async and sync fetching of the wasm failed";}catch(c){oa(c)}}
+function Ma(a){if(!na&&(da||ea)){if("function"==typeof fetch&&!a.startsWith("file://"))return fetch(a,{credentials:"same-origin"}).then(function(c){if(!c.ok)throw"failed to load wasm binary file at '"+a+"'";return c.arrayBuffer()}).catch(function(){return La(a)});if(ja)return new Promise(function(c,d){ja(a,function(e){c(new Uint8Array(e))},d)})}return Promise.resolve().then(function(){return La(a)})}
+function Na(a,c,d){return Ma(a).then(function(e){return WebAssembly.instantiate(e,c)}).then(function(e){return e}).then(d,function(e){ma("failed to asynchronously prepare wasm: "+e);oa(e)})}
+function Oa(a,c){var d=Ja;return na||"function"!=typeof WebAssembly.instantiateStreaming||Ia(d)||d.startsWith("file://")||fa||"function"!=typeof fetch?Na(d,a,c):fetch(d,{credentials:"same-origin"}).then(function(e){return WebAssembly.instantiateStreaming(e,a).then(c,function(g){ma("wasm streaming compile failed: "+g);ma("falling back to ArrayBuffer instantiation");return Na(d,a,c)})})}
+var Pa={27338:(a,c,d,e)=>{a=b.getCache(b.DebugDrawer)[a];if(!a.hasOwnProperty("drawLine"))throw"a JSImplementation must implement all functions, you forgot DebugDrawer::drawLine.";a.drawLine(c,d,e)},27558:(a,c,d,e,g,n)=>{a=b.getCache(b.DebugDrawer)[a];if(!a.hasOwnProperty("drawContactPoint"))throw"a JSImplementation must implement all functions, you forgot DebugDrawer::drawContactPoint.";a.drawContactPoint(c,d,e,g,n)},27808:(a,c)=>{a=b.getCache(b.DebugDrawer)[a];if(!a.hasOwnProperty("reportErrorWarning"))throw"a JSImplementation must implement all functions, you forgot DebugDrawer::reportErrorWarning.";
+a.reportErrorWarning(c)},28052:(a,c,d)=>{a=b.getCache(b.DebugDrawer)[a];if(!a.hasOwnProperty("draw3dText"))throw"a JSImplementation must implement all functions, you forgot DebugDrawer::draw3dText.";a.draw3dText(c,d)},28275:(a,c)=>{a=b.getCache(b.DebugDrawer)[a];if(!a.hasOwnProperty("setDebugMode"))throw"a JSImplementation must implement all functions, you forgot DebugDrawer::setDebugMode.";a.setDebugMode(c)},28501:a=>{a=b.getCache(b.DebugDrawer)[a];if(!a.hasOwnProperty("getDebugMode"))throw"a JSImplementation must implement all functions, you forgot DebugDrawer::getDebugMode.";
+return a.getDebugMode()},28732:(a,c)=>{a=b.getCache(b.MotionState)[a];if(!a.hasOwnProperty("getWorldTransform"))throw"a JSImplementation must implement all functions, you forgot MotionState::getWorldTransform.";a.getWorldTransform(c)},28973:(a,c)=>{a=b.getCache(b.MotionState)[a];if(!a.hasOwnProperty("setWorldTransform"))throw"a JSImplementation must implement all functions, you forgot MotionState::setWorldTransform.";a.setWorldTransform(c)},29214:(a,c,d,e,g,n,z,T)=>{a=b.getCache(b.ConcreteContactResultCallback)[a];
+if(!a.hasOwnProperty("addSingleResult"))throw"a JSImplementation must implement all functions, you forgot ConcreteContactResultCallback::addSingleResult.";return a.addSingleResult(c,d,e,g,n,z,T)}};function Qa(a){for(;0<a.length;)a.shift()(b)}var Ra=[];function Sa(a,c,d){Ra.length=0;var e;for(d>>=2;e=ta[c++];)d+=105!=e&d,Ra.push(105==e?va[d]:xa[d++>>1]),++d;return Pa[a].apply(null,Ra)}
+var Ta=[],Ua=void 0,Va=[],Wa={b:function(){oa("")},f:function(a,c,d){return Sa(a,c,d)},a:function(a,c,d){return Sa(a,c,d)},d:function(){return Date.now()},e:function(a,c,d){ta.copyWithin(a,c,c+d)},c:function(){oa("OOM")}};
+(function(){function a(d){d=d.exports;b.asm=d;pa=b.asm.g;var e=pa.buffer;b.HEAP8=ua=new Int8Array(e);b.HEAP16=new Int16Array(e);b.HEAP32=va=new Int32Array(e);b.HEAPU8=ta=new Uint8Array(e);b.HEAPU16=new Uint16Array(e);b.HEAPU32=new Uint32Array(e);b.HEAPF32=wa=new Float32Array(e);b.HEAPF64=xa=new Float64Array(e);ya=b.asm.iB;Aa.unshift(b.asm.h);Fa--;b.monitorRunDependencies&&b.monitorRunDependencies(Fa);0==Fa&&(null!==Ga&&(clearInterval(Ga),Ga=null),Ha&&(e=Ha,Ha=null,e()));return d}var c={a:Wa};Fa++;
+b.monitorRunDependencies&&b.monitorRunDependencies(Fa);if(b.instantiateWasm)try{return b.instantiateWasm(c,a)}catch(d){ma("Module.instantiateWasm callback failed with error: "+d),ba(d)}Oa(c,function(d){a(d.instance)}).catch(ba);return{}})();
+var Xa=b._emscripten_bind_btCollisionShape_setLocalScaling_1=function(){return(Xa=b._emscripten_bind_btCollisionShape_setLocalScaling_1=b.asm.i).apply(null,arguments)},Ya=b._emscripten_bind_btCollisionShape_getLocalScaling_0=function(){return(Ya=b._emscripten_bind_btCollisionShape_getLocalScaling_0=b.asm.j).apply(null,arguments)},Za=b._emscripten_bind_btCollisionShape_calculateLocalInertia_2=function(){return(Za=b._emscripten_bind_btCollisionShape_calculateLocalInertia_2=b.asm.k).apply(null,arguments)},
+$a=b._emscripten_bind_btCollisionShape_setMargin_1=function(){return($a=b._emscripten_bind_btCollisionShape_setMargin_1=b.asm.l).apply(null,arguments)},ab=b._emscripten_bind_btCollisionShape_getMargin_0=function(){return(ab=b._emscripten_bind_btCollisionShape_getMargin_0=b.asm.m).apply(null,arguments)},bb=b._emscripten_bind_btCollisionShape___destroy___0=function(){return(bb=b._emscripten_bind_btCollisionShape___destroy___0=b.asm.n).apply(null,arguments)},cb=b._emscripten_bind_btCollisionWorld_getDispatcher_0=
+function(){return(cb=b._emscripten_bind_btCollisionWorld_getDispatcher_0=b.asm.o).apply(null,arguments)},db=b._emscripten_bind_btCollisionWorld_rayTest_3=function(){return(db=b._emscripten_bind_btCollisionWorld_rayTest_3=b.asm.p).apply(null,arguments)},eb=b._emscripten_bind_btCollisionWorld_getPairCache_0=function(){return(eb=b._emscripten_bind_btCollisionWorld_getPairCache_0=b.asm.q).apply(null,arguments)},fb=b._emscripten_bind_btCollisionWorld_getDispatchInfo_0=function(){return(fb=b._emscripten_bind_btCollisionWorld_getDispatchInfo_0=
+b.asm.r).apply(null,arguments)},gb=b._emscripten_bind_btCollisionWorld_addCollisionObject_1=function(){return(gb=b._emscripten_bind_btCollisionWorld_addCollisionObject_1=b.asm.s).apply(null,arguments)},hb=b._emscripten_bind_btCollisionWorld_addCollisionObject_2=function(){return(hb=b._emscripten_bind_btCollisionWorld_addCollisionObject_2=b.asm.t).apply(null,arguments)},ib=b._emscripten_bind_btCollisionWorld_addCollisionObject_3=function(){return(ib=b._emscripten_bind_btCollisionWorld_addCollisionObject_3=
+b.asm.u).apply(null,arguments)},jb=b._emscripten_bind_btCollisionWorld_removeCollisionObject_1=function(){return(jb=b._emscripten_bind_btCollisionWorld_removeCollisionObject_1=b.asm.v).apply(null,arguments)},kb=b._emscripten_bind_btCollisionWorld_getBroadphase_0=function(){return(kb=b._emscripten_bind_btCollisionWorld_getBroadphase_0=b.asm.w).apply(null,arguments)},lb=b._emscripten_bind_btCollisionWorld_convexSweepTest_5=function(){return(lb=b._emscripten_bind_btCollisionWorld_convexSweepTest_5=b.asm.x).apply(null,
+arguments)},mb=b._emscripten_bind_btCollisionWorld_contactPairTest_3=function(){return(mb=b._emscripten_bind_btCollisionWorld_contactPairTest_3=b.asm.y).apply(null,arguments)},nb=b._emscripten_bind_btCollisionWorld_contactTest_2=function(){return(nb=b._emscripten_bind_btCollisionWorld_contactTest_2=b.asm.z).apply(null,arguments)},ob=b._emscripten_bind_btCollisionWorld_updateSingleAabb_1=function(){return(ob=b._emscripten_bind_btCollisionWorld_updateSingleAabb_1=b.asm.A).apply(null,arguments)},pb=
+b._emscripten_bind_btCollisionWorld_setDebugDrawer_1=function(){return(pb=b._emscripten_bind_btCollisionWorld_setDebugDrawer_1=b.asm.B).apply(null,arguments)},qb=b._emscripten_bind_btCollisionWorld_getDebugDrawer_0=function(){return(qb=b._emscripten_bind_btCollisionWorld_getDebugDrawer_0=b.asm.C).apply(null,arguments)},rb=b._emscripten_bind_btCollisionWorld_debugDrawWorld_0=function(){return(rb=b._emscripten_bind_btCollisionWorld_debugDrawWorld_0=b.asm.D).apply(null,arguments)},sb=b._emscripten_bind_btCollisionWorld_debugDrawObject_3=
+function(){return(sb=b._emscripten_bind_btCollisionWorld_debugDrawObject_3=b.asm.E).apply(null,arguments)},tb=b._emscripten_bind_btCollisionWorld___destroy___0=function(){return(tb=b._emscripten_bind_btCollisionWorld___destroy___0=b.asm.F).apply(null,arguments)},ub=b._emscripten_bind_btCollisionObject_setAnisotropicFriction_2=function(){return(ub=b._emscripten_bind_btCollisionObject_setAnisotropicFriction_2=b.asm.G).apply(null,arguments)},vb=b._emscripten_bind_btCollisionObject_getCollisionShape_0=
+function(){return(vb=b._emscripten_bind_btCollisionObject_getCollisionShape_0=b.asm.H).apply(null,arguments)},wb=b._emscripten_bind_btCollisionObject_setContactProcessingThreshold_1=function(){return(wb=b._emscripten_bind_btCollisionObject_setContactProcessingThreshold_1=b.asm.I).apply(null,arguments)},xb=b._emscripten_bind_btCollisionObject_setActivationState_1=function(){return(xb=b._emscripten_bind_btCollisionObject_setActivationState_1=b.asm.J).apply(null,arguments)},yb=b._emscripten_bind_btCollisionObject_forceActivationState_1=
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+function(){return(sk=b._emscripten_bind_ClosestConvexResultCallback_set_m_closestHitFraction_1=b.asm.si).apply(null,arguments)},tk=b._emscripten_bind_ClosestConvexResultCallback___destroy___0=function(){return(tk=b._emscripten_bind_ClosestConvexResultCallback___destroy___0=b.asm.ti).apply(null,arguments)},uk=b._emscripten_bind_btConvexTriangleMeshShape_btConvexTriangleMeshShape_1=function(){return(uk=b._emscripten_bind_btConvexTriangleMeshShape_btConvexTriangleMeshShape_1=b.asm.ui).apply(null,arguments)},
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+b.asm.xi).apply(null,arguments)},yk=b._emscripten_bind_btConvexTriangleMeshShape_calculateLocalInertia_2=function(){return(yk=b._emscripten_bind_btConvexTriangleMeshShape_calculateLocalInertia_2=b.asm.yi).apply(null,arguments)},zk=b._emscripten_bind_btConvexTriangleMeshShape_setMargin_1=function(){return(zk=b._emscripten_bind_btConvexTriangleMeshShape_setMargin_1=b.asm.zi).apply(null,arguments)},Ak=b._emscripten_bind_btConvexTriangleMeshShape_getMargin_0=function(){return(Ak=b._emscripten_bind_btConvexTriangleMeshShape_getMargin_0=
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+function(){return(Ek=b._emscripten_bind_btBoxShape_getMargin_0=b.asm.Ei).apply(null,arguments)},Fk=b._emscripten_bind_btBoxShape_setLocalScaling_1=function(){return(Fk=b._emscripten_bind_btBoxShape_setLocalScaling_1=b.asm.Fi).apply(null,arguments)},Gk=b._emscripten_bind_btBoxShape_getLocalScaling_0=function(){return(Gk=b._emscripten_bind_btBoxShape_getLocalScaling_0=b.asm.Gi).apply(null,arguments)},Hk=b._emscripten_bind_btBoxShape_calculateLocalInertia_2=function(){return(Hk=b._emscripten_bind_btBoxShape_calculateLocalInertia_2=
+b.asm.Hi).apply(null,arguments)},Ik=b._emscripten_bind_btBoxShape___destroy___0=function(){return(Ik=b._emscripten_bind_btBoxShape___destroy___0=b.asm.Ii).apply(null,arguments)},Jk=b._emscripten_bind_btCapsuleShapeX_btCapsuleShapeX_2=function(){return(Jk=b._emscripten_bind_btCapsuleShapeX_btCapsuleShapeX_2=b.asm.Ji).apply(null,arguments)},Kk=b._emscripten_bind_btCapsuleShapeX_setMargin_1=function(){return(Kk=b._emscripten_bind_btCapsuleShapeX_setMargin_1=b.asm.Ki).apply(null,arguments)},Lk=b._emscripten_bind_btCapsuleShapeX_getMargin_0=
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+b.asm.Ri).apply(null,arguments)},Sk=b._emscripten_bind_btCapsuleShapeX___destroy___0=function(){return(Sk=b._emscripten_bind_btCapsuleShapeX___destroy___0=b.asm.Si).apply(null,arguments)},Tk=b._emscripten_bind_btCapsuleShapeZ_btCapsuleShapeZ_2=function(){return(Tk=b._emscripten_bind_btCapsuleShapeZ_btCapsuleShapeZ_2=b.asm.Ti).apply(null,arguments)},Uk=b._emscripten_bind_btCapsuleShapeZ_setMargin_1=function(){return(Uk=b._emscripten_bind_btCapsuleShapeZ_setMargin_1=b.asm.Ui).apply(null,arguments)},
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+arguments)},at=b._emscripten_bind_btConeTwistConstraint_setDamping_1=function(){return(at=b._emscripten_bind_btConeTwistConstraint_setDamping_1=b.asm.Pq).apply(null,arguments)},bt=b._emscripten_bind_btConeTwistConstraint_enableMotor_1=function(){return(bt=b._emscripten_bind_btConeTwistConstraint_enableMotor_1=b.asm.Qq).apply(null,arguments)},ct=b._emscripten_bind_btConeTwistConstraint_setMaxMotorImpulse_1=function(){return(ct=b._emscripten_bind_btConeTwistConstraint_setMaxMotorImpulse_1=b.asm.Rq).apply(null,
+arguments)},dt=b._emscripten_bind_btConeTwistConstraint_setMaxMotorImpulseNormalized_1=function(){return(dt=b._emscripten_bind_btConeTwistConstraint_setMaxMotorImpulseNormalized_1=b.asm.Sq).apply(null,arguments)},et=b._emscripten_bind_btConeTwistConstraint_setMotorTarget_1=function(){return(et=b._emscripten_bind_btConeTwistConstraint_setMotorTarget_1=b.asm.Tq).apply(null,arguments)},ft=b._emscripten_bind_btConeTwistConstraint_setMotorTargetInConstraintSpace_1=function(){return(ft=b._emscripten_bind_btConeTwistConstraint_setMotorTargetInConstraintSpace_1=
+b.asm.Uq).apply(null,arguments)},gt=b._emscripten_bind_btConeTwistConstraint_enableFeedback_1=function(){return(gt=b._emscripten_bind_btConeTwistConstraint_enableFeedback_1=b.asm.Vq).apply(null,arguments)},ht=b._emscripten_bind_btConeTwistConstraint_getBreakingImpulseThreshold_0=function(){return(ht=b._emscripten_bind_btConeTwistConstraint_getBreakingImpulseThreshold_0=b.asm.Wq).apply(null,arguments)},it=b._emscripten_bind_btConeTwistConstraint_setBreakingImpulseThreshold_1=function(){return(it=b._emscripten_bind_btConeTwistConstraint_setBreakingImpulseThreshold_1=
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+b.asm.ur).apply(null,arguments)},It=b._emscripten_bind_btSliderConstraint_getLinearPos_0=function(){return(It=b._emscripten_bind_btSliderConstraint_getLinearPos_0=b.asm.vr).apply(null,arguments)},Jt=b._emscripten_bind_btSliderConstraint_getAngularPos_0=function(){return(Jt=b._emscripten_bind_btSliderConstraint_getAngularPos_0=b.asm.wr).apply(null,arguments)},Kt=b._emscripten_bind_btSliderConstraint_setLowerLinLimit_1=function(){return(Kt=b._emscripten_bind_btSliderConstraint_setLowerLinLimit_1=b.asm.xr).apply(null,
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+arguments)},$t=b._emscripten_bind_btFixedConstraint_setBreakingImpulseThreshold_1=function(){return($t=b._emscripten_bind_btFixedConstraint_setBreakingImpulseThreshold_1=b.asm.Nr).apply(null,arguments)},au=b._emscripten_bind_btFixedConstraint_getParam_2=function(){return(au=b._emscripten_bind_btFixedConstraint_getParam_2=b.asm.Or).apply(null,arguments)},bu=b._emscripten_bind_btFixedConstraint_setParam_3=function(){return(bu=b._emscripten_bind_btFixedConstraint_setParam_3=b.asm.Pr).apply(null,arguments)},
+cu=b._emscripten_bind_btFixedConstraint___destroy___0=function(){return(cu=b._emscripten_bind_btFixedConstraint___destroy___0=b.asm.Qr).apply(null,arguments)},du=b._emscripten_bind_btConstraintSolver___destroy___0=function(){return(du=b._emscripten_bind_btConstraintSolver___destroy___0=b.asm.Rr).apply(null,arguments)},eu=b._emscripten_bind_btDispatcherInfo_get_m_timeStep_0=function(){return(eu=b._emscripten_bind_btDispatcherInfo_get_m_timeStep_0=b.asm.Sr).apply(null,arguments)},fu=b._emscripten_bind_btDispatcherInfo_set_m_timeStep_1=
+function(){return(fu=b._emscripten_bind_btDispatcherInfo_set_m_timeStep_1=b.asm.Tr).apply(null,arguments)},gu=b._emscripten_bind_btDispatcherInfo_get_m_stepCount_0=function(){return(gu=b._emscripten_bind_btDispatcherInfo_get_m_stepCount_0=b.asm.Ur).apply(null,arguments)},hu=b._emscripten_bind_btDispatcherInfo_set_m_stepCount_1=function(){return(hu=b._emscripten_bind_btDispatcherInfo_set_m_stepCount_1=b.asm.Vr).apply(null,arguments)},iu=b._emscripten_bind_btDispatcherInfo_get_m_dispatchFunc_0=function(){return(iu=
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+b._emscripten_bind_btWheelInfo_set_m_maxSuspensionForce_1=b.asm.$t).apply(null,arguments)},qw=b._emscripten_bind_btWheelInfo_get_m_maxSuspensionTravelCm_0=function(){return(qw=b._emscripten_bind_btWheelInfo_get_m_maxSuspensionTravelCm_0=b.asm.au).apply(null,arguments)},rw=b._emscripten_bind_btWheelInfo_set_m_maxSuspensionTravelCm_1=function(){return(rw=b._emscripten_bind_btWheelInfo_set_m_maxSuspensionTravelCm_1=b.asm.bu).apply(null,arguments)},sw=b._emscripten_bind_btWheelInfo_get_m_wheelsSuspensionForce_0=
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+b._emscripten_bind_btWheelInfo_get_m_chassisConnectionPointCS_0=b.asm.iu).apply(null,arguments)},zw=b._emscripten_bind_btWheelInfo_set_m_chassisConnectionPointCS_1=function(){return(zw=b._emscripten_bind_btWheelInfo_set_m_chassisConnectionPointCS_1=b.asm.ju).apply(null,arguments)},Aw=b._emscripten_bind_btWheelInfo_get_m_worldTransform_0=function(){return(Aw=b._emscripten_bind_btWheelInfo_get_m_worldTransform_0=b.asm.ku).apply(null,arguments)},Bw=b._emscripten_bind_btWheelInfo_set_m_worldTransform_1=
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+b._emscripten_bind_btWheelInfo_get_m_wheelAxleCS_0=b.asm.ou).apply(null,arguments)},Fw=b._emscripten_bind_btWheelInfo_set_m_wheelAxleCS_1=function(){return(Fw=b._emscripten_bind_btWheelInfo_set_m_wheelAxleCS_1=b.asm.pu).apply(null,arguments)},Gw=b._emscripten_bind_btWheelInfo_get_m_rotation_0=function(){return(Gw=b._emscripten_bind_btWheelInfo_get_m_rotation_0=b.asm.qu).apply(null,arguments)},Hw=b._emscripten_bind_btWheelInfo_set_m_rotation_1=function(){return(Hw=b._emscripten_bind_btWheelInfo_set_m_rotation_1=
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+Zw=b._emscripten_bind_btKinematicCharacterController_preStep_1=function(){return(Zw=b._emscripten_bind_btKinematicCharacterController_preStep_1=b.asm.Ju).apply(null,arguments)},$w=b._emscripten_bind_btKinematicCharacterController_playerStep_2=function(){return($w=b._emscripten_bind_btKinematicCharacterController_playerStep_2=b.asm.Ku).apply(null,arguments)},ax=b._emscripten_bind_btKinematicCharacterController_setFallSpeed_1=function(){return(ax=b._emscripten_bind_btKinematicCharacterController_setFallSpeed_1=
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+b.asm.Uu).apply(null,arguments)},kx=b._emscripten_bind_btKinematicCharacterController_setUseGhostSweepTest_1=function(){return(kx=b._emscripten_bind_btKinematicCharacterController_setUseGhostSweepTest_1=b.asm.Vu).apply(null,arguments)},lx=b._emscripten_bind_btKinematicCharacterController_onGround_0=function(){return(lx=b._emscripten_bind_btKinematicCharacterController_onGround_0=b.asm.Wu).apply(null,arguments)},mx=b._emscripten_bind_btKinematicCharacterController_setUpInterpolate_1=function(){return(mx=
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+function(){return(px=b._emscripten_bind_btRaycastVehicle_btRaycastVehicle_3=b.asm._u).apply(null,arguments)},qx=b._emscripten_bind_btRaycastVehicle_applyEngineForce_2=function(){return(qx=b._emscripten_bind_btRaycastVehicle_applyEngineForce_2=b.asm.$u).apply(null,arguments)},rx=b._emscripten_bind_btRaycastVehicle_setSteeringValue_2=function(){return(rx=b._emscripten_bind_btRaycastVehicle_setSteeringValue_2=b.asm.av).apply(null,arguments)},sx=b._emscripten_bind_btRaycastVehicle_getWheelTransformWS_1=
+function(){return(sx=b._emscripten_bind_btRaycastVehicle_getWheelTransformWS_1=b.asm.bv).apply(null,arguments)},tx=b._emscripten_bind_btRaycastVehicle_updateWheelTransform_2=function(){return(tx=b._emscripten_bind_btRaycastVehicle_updateWheelTransform_2=b.asm.cv).apply(null,arguments)},ux=b._emscripten_bind_btRaycastVehicle_addWheel_7=function(){return(ux=b._emscripten_bind_btRaycastVehicle_addWheel_7=b.asm.dv).apply(null,arguments)},vx=b._emscripten_bind_btRaycastVehicle_getNumWheels_0=function(){return(vx=
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+b.asm.hv).apply(null,arguments)},zx=b._emscripten_bind_btRaycastVehicle_setCoordinateSystem_3=function(){return(zx=b._emscripten_bind_btRaycastVehicle_setCoordinateSystem_3=b.asm.iv).apply(null,arguments)},Ax=b._emscripten_bind_btRaycastVehicle_getCurrentSpeedKmHour_0=function(){return(Ax=b._emscripten_bind_btRaycastVehicle_getCurrentSpeedKmHour_0=b.asm.jv).apply(null,arguments)},Bx=b._emscripten_bind_btRaycastVehicle_getChassisWorldTransform_0=function(){return(Bx=b._emscripten_bind_btRaycastVehicle_getChassisWorldTransform_0=
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+Fx=b._emscripten_bind_btRaycastVehicle_getSteeringValue_1=function(){return(Fx=b._emscripten_bind_btRaycastVehicle_getSteeringValue_1=b.asm.ov).apply(null,arguments)},Gx=b._emscripten_bind_btRaycastVehicle_updateWheelTransformsWS_1=function(){return(Gx=b._emscripten_bind_btRaycastVehicle_updateWheelTransformsWS_1=b.asm.pv).apply(null,arguments)},Hx=b._emscripten_bind_btRaycastVehicle_updateWheelTransformsWS_2=function(){return(Hx=b._emscripten_bind_btRaycastVehicle_updateWheelTransformsWS_2=b.asm.qv).apply(null,
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+b.asm.Ov).apply(null,arguments)},fy=b._emscripten_bind_btPairCachingGhostObject_isStaticOrKinematicObject_0=function(){return(fy=b._emscripten_bind_btPairCachingGhostObject_isStaticOrKinematicObject_0=b.asm.Pv).apply(null,arguments)},gy=b._emscripten_bind_btPairCachingGhostObject_getRestitution_0=function(){return(gy=b._emscripten_bind_btPairCachingGhostObject_getRestitution_0=b.asm.Qv).apply(null,arguments)},hy=b._emscripten_bind_btPairCachingGhostObject_getFriction_0=function(){return(hy=b._emscripten_bind_btPairCachingGhostObject_getFriction_0=
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+function ZD(){throw"cannot construct a btConcaveShape, no constructor in IDL";}ZD.prototype=Object.create(l.prototype);ZD.prototype.constructor=ZD;ZD.prototype.lB=ZD;ZD.mB={};b.btConcaveShape=ZD;ZD.prototype.setLocalScaling=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Yb(c,a)};ZD.prototype.getLocalScaling=function(){return k(Zb(this.kB),m)};ZD.prototype.calculateLocalInertia=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);$b(d,a,c)};
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+WD.prototype.reportErrorWarning=function(a){var c=this.kB;ND();a=a&&"object"===typeof a?a.kB:QD(a);Jc(c,a)};WD.prototype.draw3dText=function(a,c){var d=this.kB;ND();a&&"object"===typeof a&&(a=a.kB);c=c&&"object"===typeof c?c.kB:QD(c);Kc(d,a,c)};WD.prototype.setDebugMode=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Lc(c,a)};WD.prototype.getDebugMode=function(){return Mc(this.kB)};WD.prototype.__destroy__=function(){Nc(this.kB)};
+function m(a,c,d){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);this.kB=void 0===a?Oc():void 0===c?_emscripten_bind_btVector3_btVector3_1(a):void 0===d?_emscripten_bind_btVector3_btVector3_2(a,c):Pc(a,c,d);h(m)[this.kB]=this}m.prototype=Object.create(f.prototype);m.prototype.constructor=m;m.prototype.lB=m;m.mB={};b.btVector3=m;m.prototype.length=m.prototype.length=function(){return Qc(this.kB)};m.prototype.x=m.prototype.x=function(){return Rc(this.kB)};
+m.prototype.y=m.prototype.y=function(){return Sc(this.kB)};m.prototype.z=m.prototype.z=function(){return Tc(this.kB)};m.prototype.setX=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Uc(c,a)};m.prototype.setY=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Vc(c,a)};m.prototype.setZ=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Wc(c,a)};
+m.prototype.setValue=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);Xc(e,a,c,d)};m.prototype.normalize=m.prototype.normalize=function(){Yc(this.kB)};m.prototype.rotate=m.prototype.rotate=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);return k(Zc(d,a,c),m)};m.prototype.dot=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return $c(c,a)};
+m.prototype.op_mul=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(ad(c,a),m)};m.prototype.op_add=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(bd(c,a),m)};m.prototype.op_sub=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(cd(c,a),m)};m.prototype.__destroy__=function(){dd(this.kB)};function cE(){throw"cannot construct a btQuadWord, no constructor in IDL";}cE.prototype=Object.create(f.prototype);cE.prototype.constructor=cE;
+cE.prototype.lB=cE;cE.mB={};b.btQuadWord=cE;cE.prototype.x=cE.prototype.x=function(){return ed(this.kB)};cE.prototype.y=cE.prototype.y=function(){return fd(this.kB)};cE.prototype.z=cE.prototype.z=function(){return gd(this.kB)};cE.prototype.w=cE.prototype.w=function(){return hd(this.kB)};cE.prototype.setX=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);jd(c,a)};cE.prototype.setY=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);kd(c,a)};
+cE.prototype.setZ=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ld(c,a)};cE.prototype.setW=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);md(c,a)};cE.prototype.__destroy__=function(){nd(this.kB)};function dE(){throw"cannot construct a btMotionState, no constructor in IDL";}dE.prototype=Object.create(f.prototype);dE.prototype.constructor=dE;dE.prototype.lB=dE;dE.mB={};b.btMotionState=dE;
+dE.prototype.getWorldTransform=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);od(c,a)};dE.prototype.setWorldTransform=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);pd(c,a)};dE.prototype.__destroy__=function(){qd(this.kB)};function u(){throw"cannot construct a RayResultCallback, no constructor in IDL";}u.prototype=Object.create(f.prototype);u.prototype.constructor=u;u.prototype.lB=u;u.mB={};b.RayResultCallback=u;u.prototype.hasHit=function(){return!!rd(this.kB)};
+u.prototype.get_m_collisionFilterGroup=u.prototype.nB=function(){return sd(this.kB)};u.prototype.set_m_collisionFilterGroup=u.prototype.pB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);td(c,a)};Object.defineProperty(u.prototype,"m_collisionFilterGroup",{get:u.prototype.nB,set:u.prototype.pB});u.prototype.get_m_collisionFilterMask=u.prototype.oB=function(){return ud(this.kB)};
+u.prototype.set_m_collisionFilterMask=u.prototype.qB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);vd(c,a)};Object.defineProperty(u.prototype,"m_collisionFilterMask",{get:u.prototype.oB,set:u.prototype.qB});u.prototype.get_m_closestHitFraction=u.prototype.rB=function(){return wd(this.kB)};u.prototype.set_m_closestHitFraction=u.prototype.sB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);xd(c,a)};Object.defineProperty(u.prototype,"m_closestHitFraction",{get:u.prototype.rB,set:u.prototype.sB});
+u.prototype.get_m_collisionObject=u.prototype.vB=function(){return k(yd(this.kB),q)};u.prototype.set_m_collisionObject=u.prototype.CB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);zd(c,a)};Object.defineProperty(u.prototype,"m_collisionObject",{get:u.prototype.vB,set:u.prototype.CB});u.prototype.get_m_flags=u.prototype.tB=function(){return Ad(this.kB)};u.prototype.set_m_flags=u.prototype.uB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Bd(c,a)};
+Object.defineProperty(u.prototype,"m_flags",{get:u.prototype.tB,set:u.prototype.uB});u.prototype.__destroy__=function(){Cd(this.kB)};function eE(){throw"cannot construct a ContactResultCallback, no constructor in IDL";}eE.prototype=Object.create(f.prototype);eE.prototype.constructor=eE;eE.prototype.lB=eE;eE.mB={};b.ContactResultCallback=eE;
+eE.prototype.addSingleResult=function(a,c,d,e,g,n,z){var T=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);g&&"object"===typeof g&&(g=g.kB);n&&"object"===typeof n&&(n=n.kB);z&&"object"===typeof z&&(z=z.kB);return Dd(T,a,c,d,e,g,n,z)};eE.prototype.__destroy__=function(){Ed(this.kB)};function v(){throw"cannot construct a ConvexResultCallback, no constructor in IDL";}v.prototype=Object.create(f.prototype);
+v.prototype.constructor=v;v.prototype.lB=v;v.mB={};b.ConvexResultCallback=v;v.prototype.hasHit=function(){return!!Fd(this.kB)};v.prototype.get_m_collisionFilterGroup=v.prototype.nB=function(){return Gd(this.kB)};v.prototype.set_m_collisionFilterGroup=v.prototype.pB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Hd(c,a)};Object.defineProperty(v.prototype,"m_collisionFilterGroup",{get:v.prototype.nB,set:v.prototype.pB});v.prototype.get_m_collisionFilterMask=v.prototype.oB=function(){return Id(this.kB)};
+v.prototype.set_m_collisionFilterMask=v.prototype.qB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Jd(c,a)};Object.defineProperty(v.prototype,"m_collisionFilterMask",{get:v.prototype.oB,set:v.prototype.qB});v.prototype.get_m_closestHitFraction=v.prototype.rB=function(){return Kd(this.kB)};v.prototype.set_m_closestHitFraction=v.prototype.sB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ld(c,a)};Object.defineProperty(v.prototype,"m_closestHitFraction",{get:v.prototype.rB,set:v.prototype.sB});
+v.prototype.__destroy__=function(){Md(this.kB)};function fE(){throw"cannot construct a btConvexShape, no constructor in IDL";}fE.prototype=Object.create(l.prototype);fE.prototype.constructor=fE;fE.prototype.lB=fE;fE.mB={};b.btConvexShape=fE;fE.prototype.setLocalScaling=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Nd(c,a)};fE.prototype.getLocalScaling=function(){return k(Od(this.kB),m)};
+fE.prototype.calculateLocalInertia=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Pd(d,a,c)};fE.prototype.setMargin=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Qd(c,a)};fE.prototype.getMargin=function(){return Rd(this.kB)};fE.prototype.__destroy__=function(){Sd(this.kB)};function gE(a,c){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);this.kB=Td(a,c);h(gE)[this.kB]=this}gE.prototype=Object.create(l.prototype);
+gE.prototype.constructor=gE;gE.prototype.lB=gE;gE.mB={};b.btCapsuleShape=gE;gE.prototype.setMargin=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ud(c,a)};gE.prototype.getMargin=function(){return Vd(this.kB)};gE.prototype.getUpAxis=function(){return Wd(this.kB)};gE.prototype.getRadius=function(){return Xd(this.kB)};gE.prototype.getHalfHeight=function(){return Yd(this.kB)};gE.prototype.setLocalScaling=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Zd(c,a)};
+gE.prototype.getLocalScaling=function(){return k($d(this.kB),m)};gE.prototype.calculateLocalInertia=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);ae(d,a,c)};gE.prototype.__destroy__=function(){be(this.kB)};function hE(a){a&&"object"===typeof a&&(a=a.kB);this.kB=ce(a);h(hE)[this.kB]=this}hE.prototype=Object.create(l.prototype);hE.prototype.constructor=hE;hE.prototype.lB=hE;hE.mB={};b.btCylinderShape=hE;
+hE.prototype.setMargin=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);de(c,a)};hE.prototype.getMargin=function(){return ee(this.kB)};hE.prototype.setLocalScaling=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);fe(c,a)};hE.prototype.getLocalScaling=function(){return k(ge(this.kB),m)};hE.prototype.calculateLocalInertia=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);he(d,a,c)};hE.prototype.__destroy__=function(){ie(this.kB)};
+function iE(a,c){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);this.kB=je(a,c);h(iE)[this.kB]=this}iE.prototype=Object.create(l.prototype);iE.prototype.constructor=iE;iE.prototype.lB=iE;iE.mB={};b.btConeShape=iE;iE.prototype.setLocalScaling=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ke(c,a)};iE.prototype.getLocalScaling=function(){return k(le(this.kB),m)};
+iE.prototype.calculateLocalInertia=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);me(d,a,c)};iE.prototype.__destroy__=function(){ne(this.kB)};function jE(){throw"cannot construct a btStridingMeshInterface, no constructor in IDL";}jE.prototype=Object.create(f.prototype);jE.prototype.constructor=jE;jE.prototype.lB=jE;jE.mB={};b.btStridingMeshInterface=jE;jE.prototype.setScaling=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);oe(c,a)};
+jE.prototype.__destroy__=function(){pe(this.kB)};function kE(){throw"cannot construct a btTriangleMeshShape, no constructor in IDL";}kE.prototype=Object.create(ZD.prototype);kE.prototype.constructor=kE;kE.prototype.lB=kE;kE.mB={};b.btTriangleMeshShape=kE;kE.prototype.setLocalScaling=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);qe(c,a)};kE.prototype.getLocalScaling=function(){return k(re(this.kB),m)};
+kE.prototype.calculateLocalInertia=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);se(d,a,c)};kE.prototype.__destroy__=function(){te(this.kB)};function lE(){throw"cannot construct a btPrimitiveManagerBase, no constructor in IDL";}lE.prototype=Object.create(f.prototype);lE.prototype.constructor=lE;lE.prototype.lB=lE;lE.mB={};b.btPrimitiveManagerBase=lE;lE.prototype.is_trimesh=function(){return!!ue(this.kB)};lE.prototype.get_primitive_count=function(){return ve(this.kB)};
+lE.prototype.get_primitive_box=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);we(d,a,c)};lE.prototype.get_primitive_triangle=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);xe(d,a,c)};lE.prototype.__destroy__=function(){ye(this.kB)};function w(){throw"cannot construct a btGImpactShapeInterface, no constructor in IDL";}w.prototype=Object.create(ZD.prototype);w.prototype.constructor=w;w.prototype.lB=w;
+w.mB={};b.btGImpactShapeInterface=w;w.prototype.updateBound=function(){ze(this.kB)};w.prototype.postUpdate=function(){Ae(this.kB)};w.prototype.getShapeType=function(){return Be(this.kB)};w.prototype.getName=function(){return sa(Ce(this.kB))};w.prototype.getGImpactShapeType=function(){return De(this.kB)};w.prototype.getPrimitiveManager=function(){return k(Ee(this.kB),lE)};w.prototype.getNumChildShapes=function(){return Fe(this.kB)};w.prototype.childrenHasTransform=function(){return!!Ge(this.kB)};
+w.prototype.needsRetrieveTriangles=function(){return!!He(this.kB)};w.prototype.needsRetrieveTetrahedrons=function(){return!!Ie(this.kB)};w.prototype.getBulletTriangle=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Je(d,a,c)};w.prototype.getBulletTetrahedron=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Ke(d,a,c)};
+w.prototype.getChildShape=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(Le(c,a),l)};w.prototype.getChildTransform=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(Me(c,a),r)};w.prototype.setChildTransform=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Ne(d,a,c)};w.prototype.setLocalScaling=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Oe(c,a)};
+w.prototype.getLocalScaling=function(){return k(Pe(this.kB),m)};w.prototype.calculateLocalInertia=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Qe(d,a,c)};w.prototype.__destroy__=function(){Re(this.kB)};function mE(){throw"cannot construct a btActivatingCollisionAlgorithm, no constructor in IDL";}mE.prototype=Object.create($D.prototype);mE.prototype.constructor=mE;mE.prototype.lB=mE;mE.mB={};b.btActivatingCollisionAlgorithm=mE;
+mE.prototype.__destroy__=function(){Se(this.kB)};function nE(a){a&&"object"===typeof a&&(a=a.kB);this.kB=void 0===a?Te():Ue(a);h(nE)[this.kB]=this}nE.prototype=Object.create(f.prototype);nE.prototype.constructor=nE;nE.prototype.lB=nE;nE.mB={};b.btDefaultCollisionConfiguration=nE;nE.prototype.__destroy__=function(){Ve(this.kB)};function TD(){throw"cannot construct a btDispatcher, no constructor in IDL";}TD.prototype=Object.create(f.prototype);TD.prototype.constructor=TD;TD.prototype.lB=TD;TD.mB={};
+b.btDispatcher=TD;TD.prototype.getNumManifolds=function(){return We(this.kB)};TD.prototype.getManifoldByIndexInternal=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(Xe(c,a),oE)};TD.prototype.__destroy__=function(){Ye(this.kB)};
+function pE(a,c,d,e,g){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);g&&"object"===typeof g&&(g=g.kB);this.kB=void 0===e?Ze(a,c,d):void 0===g?_emscripten_bind_btGeneric6DofConstraint_btGeneric6DofConstraint_4(a,c,d,e):$e(a,c,d,e,g);h(pE)[this.kB]=this}pE.prototype=Object.create(aE.prototype);pE.prototype.constructor=pE;pE.prototype.lB=pE;pE.mB={};b.btGeneric6DofConstraint=pE;
+pE.prototype.setLinearLowerLimit=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);af(c,a)};pE.prototype.setLinearUpperLimit=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);bf(c,a)};pE.prototype.setAngularLowerLimit=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);cf(c,a)};pE.prototype.setAngularUpperLimit=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);df(c,a)};pE.prototype.getFrameOffsetA=function(){return k(ef(this.kB),r)};
+pE.prototype.enableFeedback=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ff(c,a)};pE.prototype.getBreakingImpulseThreshold=function(){return gf(this.kB)};pE.prototype.setBreakingImpulseThreshold=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);hf(c,a)};pE.prototype.getParam=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);return jf(d,a,c)};
+pE.prototype.setParam=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);kf(e,a,c,d)};pE.prototype.__destroy__=function(){lf(this.kB)};function x(a,c,d,e){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);this.kB=mf(a,c,d,e);h(x)[this.kB]=this}x.prototype=Object.create(bE.prototype);x.prototype.constructor=x;x.prototype.lB=x;x.mB={};
+b.btDiscreteDynamicsWorld=x;x.prototype.setGravity=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);nf(c,a)};x.prototype.getGravity=function(){return k(of(this.kB),m)};x.prototype.addRigidBody=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);void 0===c?pf(e,a):void 0===d?_emscripten_bind_btDiscreteDynamicsWorld_addRigidBody_2(e,a,c):qf(e,a,c,d)};
+x.prototype.removeRigidBody=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);rf(c,a)};x.prototype.addConstraint=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);void 0===c?sf(d,a):tf(d,a,c)};x.prototype.removeConstraint=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);uf(c,a)};
+x.prototype.stepSimulation=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);return void 0===c?vf(e,a):void 0===d?wf(e,a,c):xf(e,a,c,d)};x.prototype.setContactAddedCallback=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);yf(c,a)};x.prototype.setContactProcessedCallback=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);zf(c,a)};
+x.prototype.setContactDestroyedCallback=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Af(c,a)};x.prototype.getDispatcher=function(){return k(Bf(this.kB),TD)};x.prototype.rayTest=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);Cf(e,a,c,d)};x.prototype.getPairCache=function(){return k(Df(this.kB),UD)};x.prototype.getDispatchInfo=function(){return k(Ef(this.kB),p)};
+x.prototype.addCollisionObject=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);void 0===c?Ff(e,a):void 0===d?Gf(e,a,c):Hf(e,a,c,d)};x.prototype.removeCollisionObject=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);If(c,a)};x.prototype.getBroadphase=function(){return k(Jf(this.kB),VD)};
+x.prototype.convexSweepTest=function(a,c,d,e,g){var n=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);g&&"object"===typeof g&&(g=g.kB);Kf(n,a,c,d,e,g)};x.prototype.contactPairTest=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);Lf(e,a,c,d)};
+x.prototype.contactTest=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Mf(d,a,c)};x.prototype.updateSingleAabb=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Nf(c,a)};x.prototype.setDebugDrawer=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Of(c,a)};x.prototype.getDebugDrawer=function(){return k(Pf(this.kB),WD)};x.prototype.debugDrawWorld=function(){Qf(this.kB)};
+x.prototype.debugDrawObject=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);Rf(e,a,c,d)};x.prototype.addAction=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Sf(c,a)};x.prototype.removeAction=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Tf(c,a)};x.prototype.getSolverInfo=function(){return k(Uf(this.kB),t)};
+x.prototype.setInternalTickCallback=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);void 0===c?Vf(e,a):void 0===d?Wf(e,a,c):Xf(e,a,c,d)};x.prototype.__destroy__=function(){Yf(this.kB)};function qE(){throw"cannot construct a btVehicleRaycaster, no constructor in IDL";}qE.prototype=Object.create(f.prototype);qE.prototype.constructor=qE;qE.prototype.lB=qE;qE.mB={};b.btVehicleRaycaster=qE;
+qE.prototype.castRay=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);Zf(e,a,c,d)};qE.prototype.__destroy__=function(){$f(this.kB)};function rE(){throw"cannot construct a btActionInterface, no constructor in IDL";}rE.prototype=Object.create(f.prototype);rE.prototype.constructor=rE;rE.prototype.lB=rE;rE.mB={};b.btActionInterface=rE;
+rE.prototype.updateAction=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);ag(d,a,c)};rE.prototype.__destroy__=function(){bg(this.kB)};function y(){this.kB=cg();h(y)[this.kB]=this}y.prototype=Object.create(q.prototype);y.prototype.constructor=y;y.prototype.lB=y;y.mB={};b.btGhostObject=y;y.prototype.getNumOverlappingObjects=function(){return dg(this.kB)};
+y.prototype.getOverlappingObject=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(eg(c,a),q)};y.prototype.setAnisotropicFriction=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);fg(d,a,c)};y.prototype.getCollisionShape=function(){return k(gg(this.kB),l)};y.prototype.setContactProcessingThreshold=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);hg(c,a)};
+y.prototype.setActivationState=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ig(c,a)};y.prototype.forceActivationState=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);jg(c,a)};y.prototype.activate=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);void 0===a?kg(c):lg(c,a)};y.prototype.isActive=function(){return!!mg(this.kB)};y.prototype.isKinematicObject=function(){return!!ng(this.kB)};y.prototype.isStaticObject=function(){return!!og(this.kB)};
+y.prototype.isStaticOrKinematicObject=function(){return!!pg(this.kB)};y.prototype.getRestitution=function(){return qg(this.kB)};y.prototype.getFriction=function(){return rg(this.kB)};y.prototype.getRollingFriction=function(){return sg(this.kB)};y.prototype.setRestitution=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);tg(c,a)};y.prototype.setFriction=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ug(c,a)};
+y.prototype.setRollingFriction=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);vg(c,a)};y.prototype.getWorldTransform=function(){return k(wg(this.kB),r)};y.prototype.getCollisionFlags=function(){return xg(this.kB)};y.prototype.setCollisionFlags=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);yg(c,a)};y.prototype.setWorldTransform=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);zg(c,a)};
+y.prototype.setCollisionShape=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ag(c,a)};y.prototype.setCcdMotionThreshold=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Bg(c,a)};y.prototype.setCcdSweptSphereRadius=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Cg(c,a)};y.prototype.getUserIndex=function(){return Dg(this.kB)};y.prototype.setUserIndex=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Eg(c,a)};
+y.prototype.getUserPointer=function(){return k(Fg(this.kB),XD)};y.prototype.setUserPointer=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Gg(c,a)};y.prototype.getBroadphaseHandle=function(){return k(Hg(this.kB),YD)};y.prototype.__destroy__=function(){Ig(this.kB)};function sE(){throw"cannot construct a btSoftBodySolver, no constructor in IDL";}sE.prototype=Object.create(f.prototype);sE.prototype.constructor=sE;sE.prototype.lB=sE;sE.mB={};b.btSoftBodySolver=sE;sE.prototype.__destroy__=function(){Jg(this.kB)};
+function XD(){throw"cannot construct a VoidPtr, no constructor in IDL";}XD.prototype=Object.create(f.prototype);XD.prototype.constructor=XD;XD.prototype.lB=XD;XD.mB={};b.VoidPtr=XD;XD.prototype.__destroy__=function(){Kg(this.kB)};function tE(){this.kB=Lg();h(tE)[this.kB]=this}tE.prototype=Object.create(WD.prototype);tE.prototype.constructor=tE;tE.prototype.lB=tE;tE.mB={};b.DebugDrawer=tE;
+tE.prototype.drawLine=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);Mg(e,a,c,d)};tE.prototype.drawContactPoint=function(a,c,d,e,g){var n=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);g&&"object"===typeof g&&(g=g.kB);Ng(n,a,c,d,e,g)};
+tE.prototype.reportErrorWarning=function(a){var c=this.kB;ND();a=a&&"object"===typeof a?a.kB:QD(a);Og(c,a)};tE.prototype.draw3dText=function(a,c){var d=this.kB;ND();a&&"object"===typeof a&&(a=a.kB);c=c&&"object"===typeof c?c.kB:QD(c);Pg(d,a,c)};tE.prototype.setDebugMode=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Qg(c,a)};tE.prototype.getDebugMode=function(){return Rg(this.kB)};tE.prototype.__destroy__=function(){Sg(this.kB)};
+function A(a,c,d,e){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);this.kB=void 0===a?Tg():void 0===c?_emscripten_bind_btVector4_btVector4_1(a):void 0===d?_emscripten_bind_btVector4_btVector4_2(a,c):void 0===e?_emscripten_bind_btVector4_btVector4_3(a,c,d):Ug(a,c,d,e);h(A)[this.kB]=this}A.prototype=Object.create(m.prototype);A.prototype.constructor=A;A.prototype.lB=A;A.mB={};b.btVector4=A;
+A.prototype.w=A.prototype.w=function(){return Vg(this.kB)};A.prototype.setValue=function(a,c,d,e){var g=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);Wg(g,a,c,d,e)};A.prototype.length=A.prototype.length=function(){return Xg(this.kB)};A.prototype.x=A.prototype.x=function(){return Yg(this.kB)};A.prototype.y=A.prototype.y=function(){return Zg(this.kB)};A.prototype.z=A.prototype.z=function(){return $g(this.kB)};
+A.prototype.setX=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ah(c,a)};A.prototype.setY=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);bh(c,a)};A.prototype.setZ=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ch(c,a)};A.prototype.normalize=A.prototype.normalize=function(){dh(this.kB)};A.prototype.rotate=A.prototype.rotate=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);return k(eh(d,a,c),m)};
+A.prototype.dot=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return fh(c,a)};A.prototype.op_mul=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(gh(c,a),m)};A.prototype.op_add=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(hh(c,a),m)};A.prototype.op_sub=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(ih(c,a),m)};A.prototype.__destroy__=function(){jh(this.kB)};
+function B(a,c,d,e){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);this.kB=kh(a,c,d,e);h(B)[this.kB]=this}B.prototype=Object.create(cE.prototype);B.prototype.constructor=B;B.prototype.lB=B;B.mB={};b.btQuaternion=B;B.prototype.setValue=function(a,c,d,e){var g=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);lh(g,a,c,d,e)};
+B.prototype.setEulerZYX=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);mh(e,a,c,d)};B.prototype.setRotation=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);nh(d,a,c)};B.prototype.normalize=B.prototype.normalize=function(){oh(this.kB)};B.prototype.length2=function(){return ph(this.kB)};B.prototype.length=B.prototype.length=function(){return qh(this.kB)};
+B.prototype.dot=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return rh(c,a)};B.prototype.normalized=function(){return k(sh(this.kB),B)};B.prototype.getAxis=function(){return k(th(this.kB),m)};B.prototype.inverse=B.prototype.inverse=function(){return k(uh(this.kB),B)};B.prototype.getAngle=function(){return vh(this.kB)};B.prototype.getAngleShortestPath=function(){return wh(this.kB)};
+B.prototype.angle=B.prototype.angle=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return xh(c,a)};B.prototype.angleShortestPath=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return yh(c,a)};B.prototype.op_add=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(zh(c,a),B)};B.prototype.op_sub=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(Ah(c,a),B)};
+B.prototype.op_mul=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(Bh(c,a),B)};B.prototype.op_mulq=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(Ch(c,a),B)};B.prototype.op_div=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(Dh(c,a),B)};B.prototype.x=B.prototype.x=function(){return Eh(this.kB)};B.prototype.y=B.prototype.y=function(){return Fh(this.kB)};B.prototype.z=B.prototype.z=function(){return Gh(this.kB)};
+B.prototype.w=B.prototype.w=function(){return Hh(this.kB)};B.prototype.setX=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ih(c,a)};B.prototype.setY=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Jh(c,a)};B.prototype.setZ=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Kh(c,a)};B.prototype.setW=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Lh(c,a)};B.prototype.__destroy__=function(){Mh(this.kB)};
+function uE(){throw"cannot construct a btMatrix3x3, no constructor in IDL";}uE.prototype=Object.create(f.prototype);uE.prototype.constructor=uE;uE.prototype.lB=uE;uE.mB={};b.btMatrix3x3=uE;uE.prototype.setEulerZYX=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);Nh(e,a,c,d)};uE.prototype.getRotation=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Oh(c,a)};
+uE.prototype.getRow=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(Ph(c,a),m)};uE.prototype.__destroy__=function(){Qh(this.kB)};function r(a,c){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);this.kB=void 0===a?Rh():void 0===c?_emscripten_bind_btTransform_btTransform_1(a):Sh(a,c);h(r)[this.kB]=this}r.prototype=Object.create(f.prototype);r.prototype.constructor=r;r.prototype.lB=r;r.mB={};b.btTransform=r;r.prototype.setIdentity=function(){Th(this.kB)};
+r.prototype.setOrigin=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Uh(c,a)};r.prototype.setRotation=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Vh(c,a)};r.prototype.getOrigin=function(){return k(Wh(this.kB),m)};r.prototype.getRotation=function(){return k(Xh(this.kB),B)};r.prototype.getBasis=function(){return k(Yh(this.kB),uE)};r.prototype.setFromOpenGLMatrix=function(a){var c=this.kB;ND();"object"==typeof a&&(a=RD(a));Zh(c,a)};
+r.prototype.inverse=r.prototype.inverse=function(){return k($h(this.kB),r)};r.prototype.op_mul=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(ai(c,a),r)};r.prototype.__destroy__=function(){bi(this.kB)};function vE(){this.kB=ci();h(vE)[this.kB]=this}vE.prototype=Object.create(dE.prototype);vE.prototype.constructor=vE;vE.prototype.lB=vE;vE.mB={};b.MotionState=vE;vE.prototype.getWorldTransform=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);di(c,a)};
+vE.prototype.setWorldTransform=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ei(c,a)};vE.prototype.__destroy__=function(){fi(this.kB)};function wE(a,c){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);this.kB=void 0===a?gi():void 0===c?hi(a):ii(a,c);h(wE)[this.kB]=this}wE.prototype=Object.create(dE.prototype);wE.prototype.constructor=wE;wE.prototype.lB=wE;wE.mB={};b.btDefaultMotionState=wE;
+wE.prototype.getWorldTransform=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ji(c,a)};wE.prototype.setWorldTransform=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ki(c,a)};wE.prototype.get_m_graphicsWorldTrans=wE.prototype.lD=function(){return k(li(this.kB),r)};wE.prototype.set_m_graphicsWorldTrans=wE.prototype.cG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);mi(c,a)};Object.defineProperty(wE.prototype,"m_graphicsWorldTrans",{get:wE.prototype.lD,set:wE.prototype.cG});
+wE.prototype.__destroy__=function(){ni(this.kB)};function xE(){throw"cannot construct a btCollisionObjectWrapper, no constructor in IDL";}xE.prototype=Object.create(f.prototype);xE.prototype.constructor=xE;xE.prototype.lB=xE;xE.mB={};b.btCollisionObjectWrapper=xE;xE.prototype.getWorldTransform=function(){return k(oi(this.kB),r)};xE.prototype.getCollisionObject=function(){return k(pi(this.kB),q)};xE.prototype.getCollisionShape=function(){return k(qi(this.kB),l)};
+function C(a,c){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);this.kB=ri(a,c);h(C)[this.kB]=this}C.prototype=Object.create(u.prototype);C.prototype.constructor=C;C.prototype.lB=C;C.mB={};b.ClosestRayResultCallback=C;C.prototype.hasHit=function(){return!!si(this.kB)};C.prototype.get_m_rayFromWorld=C.prototype.NB=function(){return k(ti(this.kB),m)};C.prototype.set_m_rayFromWorld=C.prototype.XB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ui(c,a)};
+Object.defineProperty(C.prototype,"m_rayFromWorld",{get:C.prototype.NB,set:C.prototype.XB});C.prototype.get_m_rayToWorld=C.prototype.OB=function(){return k(vi(this.kB),m)};C.prototype.set_m_rayToWorld=C.prototype.YB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);wi(c,a)};Object.defineProperty(C.prototype,"m_rayToWorld",{get:C.prototype.OB,set:C.prototype.YB});C.prototype.get_m_hitNormalWorld=C.prototype.xB=function(){return k(xi(this.kB),m)};
+C.prototype.set_m_hitNormalWorld=C.prototype.EB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);yi(c,a)};Object.defineProperty(C.prototype,"m_hitNormalWorld",{get:C.prototype.xB,set:C.prototype.EB});C.prototype.get_m_hitPointWorld=C.prototype.yB=function(){return k(zi(this.kB),m)};C.prototype.set_m_hitPointWorld=C.prototype.FB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ai(c,a)};Object.defineProperty(C.prototype,"m_hitPointWorld",{get:C.prototype.yB,set:C.prototype.FB});
+C.prototype.get_m_collisionFilterGroup=C.prototype.nB=function(){return Bi(this.kB)};C.prototype.set_m_collisionFilterGroup=C.prototype.pB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ci(c,a)};Object.defineProperty(C.prototype,"m_collisionFilterGroup",{get:C.prototype.nB,set:C.prototype.pB});C.prototype.get_m_collisionFilterMask=C.prototype.oB=function(){return Di(this.kB)};
+C.prototype.set_m_collisionFilterMask=C.prototype.qB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ei(c,a)};Object.defineProperty(C.prototype,"m_collisionFilterMask",{get:C.prototype.oB,set:C.prototype.qB});C.prototype.get_m_closestHitFraction=C.prototype.rB=function(){return Fi(this.kB)};C.prototype.set_m_closestHitFraction=C.prototype.sB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Gi(c,a)};Object.defineProperty(C.prototype,"m_closestHitFraction",{get:C.prototype.rB,set:C.prototype.sB});
+C.prototype.get_m_collisionObject=C.prototype.vB=function(){return k(Hi(this.kB),q)};C.prototype.set_m_collisionObject=C.prototype.CB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ii(c,a)};Object.defineProperty(C.prototype,"m_collisionObject",{get:C.prototype.vB,set:C.prototype.CB});C.prototype.get_m_flags=C.prototype.tB=function(){return Ji(this.kB)};C.prototype.set_m_flags=C.prototype.uB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ki(c,a)};
+Object.defineProperty(C.prototype,"m_flags",{get:C.prototype.tB,set:C.prototype.uB});C.prototype.__destroy__=function(){Li(this.kB)};function yE(){throw"cannot construct a btConstCollisionObjectArray, no constructor in IDL";}yE.prototype=Object.create(f.prototype);yE.prototype.constructor=yE;yE.prototype.lB=yE;yE.mB={};b.btConstCollisionObjectArray=yE;yE.prototype.size=yE.prototype.size=function(){return Mi(this.kB)};
+yE.prototype.at=yE.prototype.at=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(Ni(c,a),q)};yE.prototype.__destroy__=function(){Oi(this.kB)};function zE(){throw"cannot construct a btScalarArray, no constructor in IDL";}zE.prototype=Object.create(f.prototype);zE.prototype.constructor=zE;zE.prototype.lB=zE;zE.mB={};b.btScalarArray=zE;zE.prototype.size=zE.prototype.size=function(){return Pi(this.kB)};
+zE.prototype.at=zE.prototype.at=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return Qi(c,a)};zE.prototype.__destroy__=function(){Ri(this.kB)};function D(a,c){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);this.kB=Si(a,c);h(D)[this.kB]=this}D.prototype=Object.create(u.prototype);D.prototype.constructor=D;D.prototype.lB=D;D.mB={};b.AllHitsRayResultCallback=D;D.prototype.hasHit=function(){return!!Ti(this.kB)};
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+D.prototype.set_m_hitNormalWorld=D.prototype.EB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);aj(c,a)};Object.defineProperty(D.prototype,"m_hitNormalWorld",{get:D.prototype.xB,set:D.prototype.EB});D.prototype.get_m_hitPointWorld=D.prototype.yB=function(){return k(bj(this.kB),AE)};D.prototype.set_m_hitPointWorld=D.prototype.FB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);cj(c,a)};Object.defineProperty(D.prototype,"m_hitPointWorld",{get:D.prototype.yB,set:D.prototype.FB});
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+E.prototype.getPositionWorldOnA=function(){return k(qj(this.kB),m)};E.prototype.getPositionWorldOnB=function(){return k(rj(this.kB),m)};E.prototype.getAppliedImpulse=function(){return sj(this.kB)};E.prototype.getDistance=function(){return tj(this.kB)};E.prototype.get_m_localPointA=E.prototype.GD=function(){return k(uj(this.kB),m)};E.prototype.set_m_localPointA=E.prototype.xG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);vj(c,a)};
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+E.prototype.get_m_normalWorldOnB=E.prototype.SD=function(){return k(Cj(this.kB),m)};E.prototype.set_m_normalWorldOnB=E.prototype.JG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Dj(c,a)};Object.defineProperty(E.prototype,"m_normalWorldOnB",{get:E.prototype.SD,set:E.prototype.JG});E.prototype.get_m_userPersistentData=E.prototype.zE=function(){return Ej(this.kB)};E.prototype.set_m_userPersistentData=E.prototype.rH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Fj(c,a)};
+Object.defineProperty(E.prototype,"m_userPersistentData",{get:E.prototype.zE,set:E.prototype.rH});E.prototype.__destroy__=function(){Gj(this.kB)};function BE(){this.kB=Hj();h(BE)[this.kB]=this}BE.prototype=Object.create(eE.prototype);BE.prototype.constructor=BE;BE.prototype.lB=BE;BE.mB={};b.ConcreteContactResultCallback=BE;
+BE.prototype.addSingleResult=function(a,c,d,e,g,n,z){var T=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);g&&"object"===typeof g&&(g=g.kB);n&&"object"===typeof n&&(n=n.kB);z&&"object"===typeof z&&(z=z.kB);return Ij(T,a,c,d,e,g,n,z)};BE.prototype.__destroy__=function(){Jj(this.kB)};function CE(){throw"cannot construct a LocalShapeInfo, no constructor in IDL";}CE.prototype=Object.create(f.prototype);
+CE.prototype.constructor=CE;CE.prototype.lB=CE;CE.mB={};b.LocalShapeInfo=CE;CE.prototype.get_m_shapePart=CE.prototype.gE=function(){return Kj(this.kB)};CE.prototype.set_m_shapePart=CE.prototype.ZG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Lj(c,a)};Object.defineProperty(CE.prototype,"m_shapePart",{get:CE.prototype.gE,set:CE.prototype.ZG});CE.prototype.get_m_triangleIndex=CE.prototype.vE=function(){return Mj(this.kB)};
+CE.prototype.set_m_triangleIndex=CE.prototype.nH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Nj(c,a)};Object.defineProperty(CE.prototype,"m_triangleIndex",{get:CE.prototype.vE,set:CE.prototype.nH});CE.prototype.__destroy__=function(){Oj(this.kB)};function F(a,c,d,e,g){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);g&&"object"===typeof g&&(g=g.kB);this.kB=Pj(a,c,d,e,g);h(F)[this.kB]=this}
+F.prototype=Object.create(f.prototype);F.prototype.constructor=F;F.prototype.lB=F;F.mB={};b.LocalConvexResult=F;F.prototype.get_m_hitCollisionObject=F.prototype.LB=function(){return k(Qj(this.kB),q)};F.prototype.set_m_hitCollisionObject=F.prototype.VB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Rj(c,a)};Object.defineProperty(F.prototype,"m_hitCollisionObject",{get:F.prototype.LB,set:F.prototype.VB});F.prototype.get_m_localShapeInfo=F.prototype.ID=function(){return k(Sj(this.kB),CE)};
+F.prototype.set_m_localShapeInfo=F.prototype.zG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Tj(c,a)};Object.defineProperty(F.prototype,"m_localShapeInfo",{get:F.prototype.ID,set:F.prototype.zG});F.prototype.get_m_hitNormalLocal=F.prototype.sD=function(){return k(Uj(this.kB),m)};F.prototype.set_m_hitNormalLocal=F.prototype.jG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Vj(c,a)};Object.defineProperty(F.prototype,"m_hitNormalLocal",{get:F.prototype.sD,set:F.prototype.jG});
+F.prototype.get_m_hitPointLocal=F.prototype.uD=function(){return k(Wj(this.kB),m)};F.prototype.set_m_hitPointLocal=F.prototype.lG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Xj(c,a)};Object.defineProperty(F.prototype,"m_hitPointLocal",{get:F.prototype.uD,set:F.prototype.lG});F.prototype.get_m_hitFraction=F.prototype.pD=function(){return Yj(this.kB)};F.prototype.set_m_hitFraction=F.prototype.gG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Zj(c,a)};
+Object.defineProperty(F.prototype,"m_hitFraction",{get:F.prototype.pD,set:F.prototype.gG});F.prototype.__destroy__=function(){ak(this.kB)};function G(a,c){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);this.kB=bk(a,c);h(G)[this.kB]=this}G.prototype=Object.create(v.prototype);G.prototype.constructor=G;G.prototype.lB=G;G.mB={};b.ClosestConvexResultCallback=G;G.prototype.hasHit=function(){return!!ck(this.kB)};
+G.prototype.get_m_hitCollisionObject=G.prototype.LB=function(){return k(dk(this.kB),q)};G.prototype.set_m_hitCollisionObject=G.prototype.VB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ek(c,a)};Object.defineProperty(G.prototype,"m_hitCollisionObject",{get:G.prototype.LB,set:G.prototype.VB});G.prototype.get_m_convexFromWorld=G.prototype.ZC=function(){return k(fk(this.kB),m)};
+G.prototype.set_m_convexFromWorld=G.prototype.QF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);gk(c,a)};Object.defineProperty(G.prototype,"m_convexFromWorld",{get:G.prototype.ZC,set:G.prototype.QF});G.prototype.get_m_convexToWorld=G.prototype.$C=function(){return k(hk(this.kB),m)};G.prototype.set_m_convexToWorld=G.prototype.RF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ik(c,a)};Object.defineProperty(G.prototype,"m_convexToWorld",{get:G.prototype.$C,set:G.prototype.RF});
+G.prototype.get_m_hitNormalWorld=G.prototype.xB=function(){return k(jk(this.kB),m)};G.prototype.set_m_hitNormalWorld=G.prototype.EB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);kk(c,a)};Object.defineProperty(G.prototype,"m_hitNormalWorld",{get:G.prototype.xB,set:G.prototype.EB});G.prototype.get_m_hitPointWorld=G.prototype.yB=function(){return k(lk(this.kB),m)};G.prototype.set_m_hitPointWorld=G.prototype.FB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);mk(c,a)};
+Object.defineProperty(G.prototype,"m_hitPointWorld",{get:G.prototype.yB,set:G.prototype.FB});G.prototype.get_m_collisionFilterGroup=G.prototype.nB=function(){return nk(this.kB)};G.prototype.set_m_collisionFilterGroup=G.prototype.pB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ok(c,a)};Object.defineProperty(G.prototype,"m_collisionFilterGroup",{get:G.prototype.nB,set:G.prototype.pB});G.prototype.get_m_collisionFilterMask=G.prototype.oB=function(){return pk(this.kB)};
+G.prototype.set_m_collisionFilterMask=G.prototype.qB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);qk(c,a)};Object.defineProperty(G.prototype,"m_collisionFilterMask",{get:G.prototype.oB,set:G.prototype.qB});G.prototype.get_m_closestHitFraction=G.prototype.rB=function(){return rk(this.kB)};G.prototype.set_m_closestHitFraction=G.prototype.sB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);sk(c,a)};Object.defineProperty(G.prototype,"m_closestHitFraction",{get:G.prototype.rB,set:G.prototype.sB});
+G.prototype.__destroy__=function(){tk(this.kB)};function DE(a,c){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);this.kB=void 0===c?uk(a):vk(a,c);h(DE)[this.kB]=this}DE.prototype=Object.create(fE.prototype);DE.prototype.constructor=DE;DE.prototype.lB=DE;DE.mB={};b.btConvexTriangleMeshShape=DE;DE.prototype.setLocalScaling=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);wk(c,a)};DE.prototype.getLocalScaling=function(){return k(xk(this.kB),m)};
+DE.prototype.calculateLocalInertia=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);yk(d,a,c)};DE.prototype.setMargin=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);zk(c,a)};DE.prototype.getMargin=function(){return Ak(this.kB)};DE.prototype.__destroy__=function(){Bk(this.kB)};function EE(a){a&&"object"===typeof a&&(a=a.kB);this.kB=Ck(a);h(EE)[this.kB]=this}EE.prototype=Object.create(l.prototype);EE.prototype.constructor=EE;EE.prototype.lB=EE;
+EE.mB={};b.btBoxShape=EE;EE.prototype.setMargin=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Dk(c,a)};EE.prototype.getMargin=function(){return Ek(this.kB)};EE.prototype.setLocalScaling=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Fk(c,a)};EE.prototype.getLocalScaling=function(){return k(Gk(this.kB),m)};EE.prototype.calculateLocalInertia=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Hk(d,a,c)};EE.prototype.__destroy__=function(){Ik(this.kB)};
+function FE(a,c){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);this.kB=Jk(a,c);h(FE)[this.kB]=this}FE.prototype=Object.create(gE.prototype);FE.prototype.constructor=FE;FE.prototype.lB=FE;FE.mB={};b.btCapsuleShapeX=FE;FE.prototype.setMargin=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Kk(c,a)};FE.prototype.getMargin=function(){return Lk(this.kB)};FE.prototype.getUpAxis=function(){return Mk(this.kB)};FE.prototype.getRadius=function(){return Nk(this.kB)};
+FE.prototype.getHalfHeight=function(){return Ok(this.kB)};FE.prototype.setLocalScaling=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Pk(c,a)};FE.prototype.getLocalScaling=function(){return k(Qk(this.kB),m)};FE.prototype.calculateLocalInertia=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Rk(d,a,c)};FE.prototype.__destroy__=function(){Sk(this.kB)};
+function GE(a,c){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);this.kB=Tk(a,c);h(GE)[this.kB]=this}GE.prototype=Object.create(gE.prototype);GE.prototype.constructor=GE;GE.prototype.lB=GE;GE.mB={};b.btCapsuleShapeZ=GE;GE.prototype.setMargin=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Uk(c,a)};GE.prototype.getMargin=function(){return Vk(this.kB)};GE.prototype.getUpAxis=function(){return Wk(this.kB)};GE.prototype.getRadius=function(){return Xk(this.kB)};
+GE.prototype.getHalfHeight=function(){return Yk(this.kB)};GE.prototype.setLocalScaling=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Zk(c,a)};GE.prototype.getLocalScaling=function(){return k($k(this.kB),m)};GE.prototype.calculateLocalInertia=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);al(d,a,c)};GE.prototype.__destroy__=function(){bl(this.kB)};function HE(a){a&&"object"===typeof a&&(a=a.kB);this.kB=cl(a);h(HE)[this.kB]=this}
+HE.prototype=Object.create(hE.prototype);HE.prototype.constructor=HE;HE.prototype.lB=HE;HE.mB={};b.btCylinderShapeX=HE;HE.prototype.setMargin=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);dl(c,a)};HE.prototype.getMargin=function(){return el(this.kB)};HE.prototype.setLocalScaling=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);fl(c,a)};HE.prototype.getLocalScaling=function(){return k(gl(this.kB),m)};
+HE.prototype.calculateLocalInertia=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);hl(d,a,c)};HE.prototype.__destroy__=function(){il(this.kB)};function IE(a){a&&"object"===typeof a&&(a=a.kB);this.kB=jl(a);h(IE)[this.kB]=this}IE.prototype=Object.create(hE.prototype);IE.prototype.constructor=IE;IE.prototype.lB=IE;IE.mB={};b.btCylinderShapeZ=IE;IE.prototype.setMargin=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);kl(c,a)};
+IE.prototype.getMargin=function(){return ll(this.kB)};IE.prototype.setLocalScaling=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ml(c,a)};IE.prototype.getLocalScaling=function(){return k(nl(this.kB),m)};IE.prototype.calculateLocalInertia=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);ol(d,a,c)};IE.prototype.__destroy__=function(){pl(this.kB)};function JE(a){a&&"object"===typeof a&&(a=a.kB);this.kB=ql(a);h(JE)[this.kB]=this}JE.prototype=Object.create(l.prototype);
+JE.prototype.constructor=JE;JE.prototype.lB=JE;JE.mB={};b.btSphereShape=JE;JE.prototype.setMargin=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);rl(c,a)};JE.prototype.getMargin=function(){return sl(this.kB)};JE.prototype.setLocalScaling=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);tl(c,a)};JE.prototype.getLocalScaling=function(){return k(ul(this.kB),m)};
+JE.prototype.calculateLocalInertia=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);vl(d,a,c)};JE.prototype.__destroy__=function(){wl(this.kB)};function KE(a,c,d){ND();a&&"object"===typeof a&&(a=a.kB);"object"==typeof c&&(c=RD(c));d&&"object"===typeof d&&(d=d.kB);this.kB=xl(a,c,d);h(KE)[this.kB]=this}KE.prototype=Object.create(l.prototype);KE.prototype.constructor=KE;KE.prototype.lB=KE;KE.mB={};b.btMultiSphereShape=KE;
+KE.prototype.setLocalScaling=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);yl(c,a)};KE.prototype.getLocalScaling=function(){return k(zl(this.kB),m)};KE.prototype.calculateLocalInertia=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Al(d,a,c)};KE.prototype.__destroy__=function(){Bl(this.kB)};function LE(a,c){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);this.kB=Cl(a,c);h(LE)[this.kB]=this}LE.prototype=Object.create(iE.prototype);
+LE.prototype.constructor=LE;LE.prototype.lB=LE;LE.mB={};b.btConeShapeX=LE;LE.prototype.setLocalScaling=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Dl(c,a)};LE.prototype.getLocalScaling=function(){return k(El(this.kB),m)};LE.prototype.calculateLocalInertia=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Fl(d,a,c)};LE.prototype.__destroy__=function(){Gl(this.kB)};
+function ME(a,c){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);this.kB=Hl(a,c);h(ME)[this.kB]=this}ME.prototype=Object.create(iE.prototype);ME.prototype.constructor=ME;ME.prototype.lB=ME;ME.mB={};b.btConeShapeZ=ME;ME.prototype.setLocalScaling=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Il(c,a)};ME.prototype.getLocalScaling=function(){return k(Jl(this.kB),m)};
+ME.prototype.calculateLocalInertia=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Kl(d,a,c)};ME.prototype.__destroy__=function(){Ll(this.kB)};function NE(){throw"cannot construct a btIntArray, no constructor in IDL";}NE.prototype=Object.create(f.prototype);NE.prototype.constructor=NE;NE.prototype.lB=NE;NE.mB={};b.btIntArray=NE;NE.prototype.size=NE.prototype.size=function(){return Ml(this.kB)};
+NE.prototype.at=NE.prototype.at=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return Nl(c,a)};NE.prototype.__destroy__=function(){Ol(this.kB)};function OE(){throw"cannot construct a btFace, no constructor in IDL";}OE.prototype=Object.create(f.prototype);OE.prototype.constructor=OE;OE.prototype.lB=OE;OE.mB={};b.btFace=OE;OE.prototype.get_m_indices=OE.prototype.xD=function(){return k(Pl(this.kB),NE)};
+OE.prototype.set_m_indices=OE.prototype.oG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ql(c,a)};Object.defineProperty(OE.prototype,"m_indices",{get:OE.prototype.xD,set:OE.prototype.oG});OE.prototype.get_m_plane=OE.prototype.WD=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return Rl(c,a)};OE.prototype.set_m_plane=OE.prototype.NG=function(a,c){var d=this.kB;ND();a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Sl(d,a,c)};
+Object.defineProperty(OE.prototype,"m_plane",{get:OE.prototype.WD,set:OE.prototype.NG});OE.prototype.__destroy__=function(){Tl(this.kB)};function AE(){throw"cannot construct a btVector3Array, no constructor in IDL";}AE.prototype=Object.create(f.prototype);AE.prototype.constructor=AE;AE.prototype.lB=AE;AE.mB={};b.btVector3Array=AE;AE.prototype.size=AE.prototype.size=function(){return Ul(this.kB)};
+AE.prototype.at=AE.prototype.at=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(Vl(c,a),m)};AE.prototype.__destroy__=function(){Wl(this.kB)};function PE(){throw"cannot construct a btFaceArray, no constructor in IDL";}PE.prototype=Object.create(f.prototype);PE.prototype.constructor=PE;PE.prototype.lB=PE;PE.mB={};b.btFaceArray=PE;PE.prototype.size=PE.prototype.size=function(){return Xl(this.kB)};
+PE.prototype.at=PE.prototype.at=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(Yl(c,a),OE)};PE.prototype.__destroy__=function(){Zl(this.kB)};function QE(){throw"cannot construct a btConvexPolyhedron, no constructor in IDL";}QE.prototype=Object.create(f.prototype);QE.prototype.constructor=QE;QE.prototype.lB=QE;QE.mB={};b.btConvexPolyhedron=QE;QE.prototype.get_m_vertices=QE.prototype.BE=function(){return k($l(this.kB),AE)};
+QE.prototype.set_m_vertices=QE.prototype.tH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);am(c,a)};Object.defineProperty(QE.prototype,"m_vertices",{get:QE.prototype.BE,set:QE.prototype.tH});QE.prototype.get_m_faces=QE.prototype.KB=function(){return k(bm(this.kB),PE)};QE.prototype.set_m_faces=QE.prototype.UB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);cm(c,a)};Object.defineProperty(QE.prototype,"m_faces",{get:QE.prototype.KB,set:QE.prototype.UB});
+QE.prototype.__destroy__=function(){dm(this.kB)};function RE(a,c){ND();"object"==typeof a&&(a=RD(a));c&&"object"===typeof c&&(c=c.kB);this.kB=void 0===a?em():void 0===c?fm(a):gm(a,c);h(RE)[this.kB]=this}RE.prototype=Object.create(l.prototype);RE.prototype.constructor=RE;RE.prototype.lB=RE;RE.mB={};b.btConvexHullShape=RE;RE.prototype.addPoint=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);void 0===c?hm(d,a):im(d,a,c)};
+RE.prototype.setMargin=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);jm(c,a)};RE.prototype.getMargin=function(){return km(this.kB)};RE.prototype.getNumVertices=function(){return lm(this.kB)};RE.prototype.initializePolyhedralFeatures=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return!!mm(c,a)};RE.prototype.recalcLocalAabb=function(){nm(this.kB)};RE.prototype.getConvexPolyhedron=function(){return k(om(this.kB),QE)};
+RE.prototype.setLocalScaling=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);pm(c,a)};RE.prototype.getLocalScaling=function(){return k(qm(this.kB),m)};RE.prototype.calculateLocalInertia=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);rm(d,a,c)};RE.prototype.__destroy__=function(){sm(this.kB)};function SE(a){a&&"object"===typeof a&&(a=a.kB);this.kB=tm(a);h(SE)[this.kB]=this}SE.prototype=Object.create(f.prototype);SE.prototype.constructor=SE;
+SE.prototype.lB=SE;SE.mB={};b.btShapeHull=SE;SE.prototype.buildHull=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return!!um(c,a)};SE.prototype.numVertices=function(){return wm(this.kB)};SE.prototype.getVertexPointer=function(){return k(xm(this.kB),m)};SE.prototype.__destroy__=function(){ym(this.kB)};function TE(a){a&&"object"===typeof a&&(a=a.kB);this.kB=void 0===a?zm():Am(a);h(TE)[this.kB]=this}TE.prototype=Object.create(l.prototype);TE.prototype.constructor=TE;TE.prototype.lB=TE;
+TE.mB={};b.btCompoundShape=TE;TE.prototype.addChildShape=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Bm(d,a,c)};TE.prototype.removeChildShape=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Cm(c,a)};TE.prototype.removeChildShapeByIndex=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Dm(c,a)};TE.prototype.getNumChildShapes=function(){return Em(this.kB)};
+TE.prototype.getChildShape=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(Fm(c,a),l)};TE.prototype.updateChildTransform=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);void 0===d?Gm(e,a,c):Hm(e,a,c,d)};TE.prototype.setMargin=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Im(c,a)};TE.prototype.getMargin=function(){return Jm(this.kB)};
+TE.prototype.setLocalScaling=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Km(c,a)};TE.prototype.getLocalScaling=function(){return k(Lm(this.kB),m)};TE.prototype.calculateLocalInertia=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Mm(d,a,c)};TE.prototype.__destroy__=function(){Nm(this.kB)};function UE(){throw"cannot construct a btIndexedMesh, no constructor in IDL";}UE.prototype=Object.create(f.prototype);UE.prototype.constructor=UE;
+UE.prototype.lB=UE;UE.mB={};b.btIndexedMesh=UE;UE.prototype.get_m_numTriangles=UE.prototype.UD=function(){return Om(this.kB)};UE.prototype.set_m_numTriangles=UE.prototype.LG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Pm(c,a)};Object.defineProperty(UE.prototype,"m_numTriangles",{get:UE.prototype.UD,set:UE.prototype.LG});UE.prototype.__destroy__=function(){Qm(this.kB)};function VE(){throw"cannot construct a btIndexedMeshArray, no constructor in IDL";}VE.prototype=Object.create(f.prototype);
+VE.prototype.constructor=VE;VE.prototype.lB=VE;VE.mB={};b.btIndexedMeshArray=VE;VE.prototype.size=VE.prototype.size=function(){return Rm(this.kB)};VE.prototype.at=VE.prototype.at=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(Sm(c,a),UE)};VE.prototype.__destroy__=function(){Tm(this.kB)};function WE(a,c){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);this.kB=void 0===a?Um():void 0===c?Vm(a):Wm(a,c);h(WE)[this.kB]=this}WE.prototype=Object.create(jE.prototype);
+WE.prototype.constructor=WE;WE.prototype.lB=WE;WE.mB={};b.btTriangleMesh=WE;WE.prototype.addTriangle=function(a,c,d,e){var g=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);void 0===e?Xm(g,a,c,d):Ym(g,a,c,d,e)};WE.prototype.findOrAddVertex=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);return Zm(d,a,c)};
+WE.prototype.addIndex=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);$m(c,a)};WE.prototype.getIndexedMeshArray=function(){return k(an(this.kB),VE)};WE.prototype.setScaling=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);bn(c,a)};WE.prototype.__destroy__=function(){cn(this.kB)};function XE(){this.kB=dn();h(XE)[this.kB]=this}XE.prototype=Object.create(ZD.prototype);XE.prototype.constructor=XE;XE.prototype.lB=XE;XE.mB={};b.btEmptyShape=XE;
+XE.prototype.setLocalScaling=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);en(c,a)};XE.prototype.getLocalScaling=function(){return k(fn(this.kB),m)};XE.prototype.calculateLocalInertia=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);gn(d,a,c)};XE.prototype.__destroy__=function(){hn(this.kB)};function YE(a,c){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);this.kB=jn(a,c);h(YE)[this.kB]=this}YE.prototype=Object.create(ZD.prototype);
+YE.prototype.constructor=YE;YE.prototype.lB=YE;YE.mB={};b.btStaticPlaneShape=YE;YE.prototype.setLocalScaling=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);kn(c,a)};YE.prototype.getLocalScaling=function(){return k(ln(this.kB),m)};YE.prototype.calculateLocalInertia=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);mn(d,a,c)};YE.prototype.__destroy__=function(){nn(this.kB)};
+function ZE(a,c,d){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);this.kB=void 0===d?on(a,c):pn(a,c,d);h(ZE)[this.kB]=this}ZE.prototype=Object.create(kE.prototype);ZE.prototype.constructor=ZE;ZE.prototype.lB=ZE;ZE.mB={};b.btBvhTriangleMeshShape=ZE;ZE.prototype.setLocalScaling=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);qn(c,a)};ZE.prototype.getLocalScaling=function(){return k(rn(this.kB),m)};
+ZE.prototype.calculateLocalInertia=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);sn(d,a,c)};ZE.prototype.__destroy__=function(){tn(this.kB)};
+function $E(a,c,d,e,g,n,z,T,Da){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);g&&"object"===typeof g&&(g=g.kB);n&&"object"===typeof n&&(n=n.kB);z&&"object"===typeof z&&(z=z.kB);T&&"object"===typeof T&&(T=T.kB);Da&&"object"===typeof Da&&(Da=Da.kB);this.kB=un(a,c,d,e,g,n,z,T,Da);h($E)[this.kB]=this}$E.prototype=Object.create(ZD.prototype);$E.prototype.constructor=$E;$E.prototype.lB=$E;$E.mB={};
+b.btHeightfieldTerrainShape=$E;$E.prototype.setMargin=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);vn(c,a)};$E.prototype.getMargin=function(){return wn(this.kB)};$E.prototype.setLocalScaling=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);xn(c,a)};$E.prototype.getLocalScaling=function(){return k(yn(this.kB),m)};$E.prototype.calculateLocalInertia=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);zn(d,a,c)};
+$E.prototype.__destroy__=function(){An(this.kB)};function aF(a,c,d,e){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);this.kB=Bn(a,c,d,e);h(aF)[this.kB]=this}aF.prototype=Object.create(f.prototype);aF.prototype.constructor=aF;aF.prototype.lB=aF;aF.mB={};b.btAABB=aF;aF.prototype.invalidate=function(){Cn(this.kB)};aF.prototype.increment_margin=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Dn(c,a)};
+aF.prototype.copy_with_margin=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);En(d,a,c)};aF.prototype.__destroy__=function(){Fn(this.kB)};function bF(){this.kB=Gn();h(bF)[this.kB]=this}bF.prototype=Object.create(f.prototype);bF.prototype.constructor=bF;bF.prototype.lB=bF;bF.mB={};b.btPrimitiveTriangle=bF;bF.prototype.__destroy__=function(){Hn(this.kB)};
+function cF(a,c,d){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);this.kB=In(a,c,d);h(cF)[this.kB]=this}cF.prototype=Object.create(f.prototype);cF.prototype.constructor=cF;cF.prototype.lB=cF;cF.mB={};b.btTriangleShapeEx=cF;cF.prototype.getAabb=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);Jn(e,a,c,d)};
+cF.prototype.applyTransform=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Kn(c,a)};cF.prototype.buildTriPlane=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ln(c,a)};cF.prototype.__destroy__=function(){Mn(this.kB)};function dF(){this.kB=Nn();h(dF)[this.kB]=this}dF.prototype=Object.create(f.prototype);dF.prototype.constructor=dF;dF.prototype.lB=dF;dF.mB={};b.btTetrahedronShapeEx=dF;
+dF.prototype.setVertices=function(a,c,d,e){var g=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);On(g,a,c,d,e)};dF.prototype.__destroy__=function(){Pn(this.kB)};function eF(){throw"cannot construct a CompoundPrimitiveManager, no constructor in IDL";}eF.prototype=Object.create(lE.prototype);eF.prototype.constructor=eF;eF.prototype.lB=eF;eF.mB={};b.CompoundPrimitiveManager=eF;
+eF.prototype.get_primitive_count=function(){return Qn(this.kB)};eF.prototype.get_primitive_box=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Rn(d,a,c)};eF.prototype.get_primitive_triangle=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Sn(d,a,c)};eF.prototype.is_trimesh=function(){return!!Tn(this.kB)};eF.prototype.get_m_compoundShape=eF.prototype.VC=function(){return k(Un(this.kB),H)};
+eF.prototype.set_m_compoundShape=eF.prototype.MF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Vn(c,a)};Object.defineProperty(eF.prototype,"m_compoundShape",{get:eF.prototype.VC,set:eF.prototype.MF});eF.prototype.__destroy__=function(){Wn(this.kB)};function H(a){a&&"object"===typeof a&&(a=a.kB);this.kB=void 0===a?Xn():Yn(a);h(H)[this.kB]=this}H.prototype=Object.create(w.prototype);H.prototype.constructor=H;H.prototype.lB=H;H.mB={};b.btGImpactCompoundShape=H;
+H.prototype.childrenHasTransform=function(){return!!Zn(this.kB)};H.prototype.getPrimitiveManager=function(){return k($n(this.kB),lE)};H.prototype.getCompoundPrimitiveManager=function(){return k(ao(this.kB),eF)};H.prototype.getNumChildShapes=function(){return bo(this.kB)};H.prototype.addChildShape=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);co(d,a,c)};
+H.prototype.getChildShape=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(eo(c,a),l)};H.prototype.getChildAabb=function(a,c,d,e){var g=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);fo(g,a,c,d,e)};H.prototype.getChildTransform=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(go(c,a),r)};
+H.prototype.setChildTransform=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);ho(d,a,c)};H.prototype.calculateLocalInertia=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);io(d,a,c)};H.prototype.getName=function(){return sa(jo(this.kB))};H.prototype.getGImpactShapeType=function(){return ko(this.kB)};H.prototype.setLocalScaling=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);lo(c,a)};
+H.prototype.getLocalScaling=function(){return k(mo(this.kB),m)};H.prototype.updateBound=function(){no(this.kB)};H.prototype.postUpdate=function(){oo(this.kB)};H.prototype.getShapeType=function(){return po(this.kB)};H.prototype.needsRetrieveTriangles=function(){return!!qo(this.kB)};H.prototype.needsRetrieveTetrahedrons=function(){return!!ro(this.kB)};H.prototype.getBulletTriangle=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);so(d,a,c)};
+H.prototype.getBulletTetrahedron=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);to(d,a,c)};H.prototype.__destroy__=function(){uo(this.kB)};function I(a){a&&"object"===typeof a&&(a=a.kB);this.kB=void 0===a?vo():wo(a);h(I)[this.kB]=this}I.prototype=Object.create(lE.prototype);I.prototype.constructor=I;I.prototype.lB=I;I.mB={};b.TrimeshPrimitiveManager=I;I.prototype.lock=I.prototype.lock=function(){xo(this.kB)};I.prototype.unlock=I.prototype.unlock=function(){yo(this.kB)};
+I.prototype.is_trimesh=function(){return!!zo(this.kB)};I.prototype.get_vertex_count=function(){return Ao(this.kB)};I.prototype.get_indices=function(a,c,d,e){var g=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);Bo(g,a,c,d,e)};I.prototype.get_vertex=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Co(d,a,c)};
+I.prototype.get_bullet_triangle=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Do(d,a,c)};I.prototype.get_m_margin=I.prototype.LD=function(){return Eo(this.kB)};I.prototype.set_m_margin=I.prototype.CG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Fo(c,a)};Object.defineProperty(I.prototype,"m_margin",{get:I.prototype.LD,set:I.prototype.CG});I.prototype.get_m_meshInterface=I.prototype.OD=function(){return k(Go(this.kB),jE)};
+I.prototype.set_m_meshInterface=I.prototype.FG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ho(c,a)};Object.defineProperty(I.prototype,"m_meshInterface",{get:I.prototype.OD,set:I.prototype.FG});I.prototype.get_m_part=I.prototype.VD=function(){return Io(this.kB)};I.prototype.set_m_part=I.prototype.MG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Jo(c,a)};Object.defineProperty(I.prototype,"m_part",{get:I.prototype.VD,set:I.prototype.MG});
+I.prototype.get_m_lock_count=I.prototype.JD=function(){return Ko(this.kB)};I.prototype.set_m_lock_count=I.prototype.AG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Lo(c,a)};Object.defineProperty(I.prototype,"m_lock_count",{get:I.prototype.JD,set:I.prototype.AG});I.prototype.get_numverts=I.prototype.LE=function(){return Mo(this.kB)};I.prototype.set_numverts=I.prototype.DH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);No(c,a)};
+Object.defineProperty(I.prototype,"numverts",{get:I.prototype.LE,set:I.prototype.DH});I.prototype.get_type=I.prototype.PE=function(){return Oo(this.kB)};I.prototype.set_type=I.prototype.HH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Po(c,a)};Object.defineProperty(I.prototype,"type",{get:I.prototype.PE,set:I.prototype.HH});I.prototype.get_stride=I.prototype.NE=function(){return Qo(this.kB)};
+I.prototype.set_stride=I.prototype.FH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ro(c,a)};Object.defineProperty(I.prototype,"stride",{get:I.prototype.NE,set:I.prototype.FH});I.prototype.get_indexstride=I.prototype.gC=function(){return So(this.kB)};I.prototype.set_indexstride=I.prototype.YE=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);To(c,a)};Object.defineProperty(I.prototype,"indexstride",{get:I.prototype.gC,set:I.prototype.YE});
+I.prototype.get_numfaces=I.prototype.KE=function(){return Uo(this.kB)};I.prototype.set_numfaces=I.prototype.CH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Vo(c,a)};Object.defineProperty(I.prototype,"numfaces",{get:I.prototype.KE,set:I.prototype.CH});I.prototype.get_indicestype=I.prototype.hC=function(){return Wo(this.kB)};I.prototype.set_indicestype=I.prototype.ZE=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Xo(c,a)};
+Object.defineProperty(I.prototype,"indicestype",{get:I.prototype.hC,set:I.prototype.ZE});I.prototype.__destroy__=function(){Yo(this.kB)};function fF(a,c){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);this.kB=Zo(a,c);h(fF)[this.kB]=this}fF.prototype=Object.create(w.prototype);fF.prototype.constructor=fF;fF.prototype.lB=fF;fF.mB={};b.btGImpactMeshShapePart=fF;fF.prototype.getTrimeshPrimitiveManager=function(){return k($o(this.kB),I)};fF.prototype.getVertexCount=function(){return ap(this.kB)};
+fF.prototype.getVertex=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);bp(d,a,c)};fF.prototype.getPart=function(){return cp(this.kB)};fF.prototype.setLocalScaling=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);dp(c,a)};fF.prototype.getLocalScaling=function(){return k(ep(this.kB),m)};fF.prototype.updateBound=function(){fp(this.kB)};fF.prototype.postUpdate=function(){gp(this.kB)};fF.prototype.getShapeType=function(){return hp(this.kB)};
+fF.prototype.needsRetrieveTriangles=function(){return!!ip(this.kB)};fF.prototype.needsRetrieveTetrahedrons=function(){return!!jp(this.kB)};fF.prototype.getBulletTriangle=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);kp(d,a,c)};fF.prototype.getBulletTetrahedron=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);lp(d,a,c)};fF.prototype.__destroy__=function(){mp(this.kB)};
+function gF(a){a&&"object"===typeof a&&(a=a.kB);this.kB=np(a);h(gF)[this.kB]=this}gF.prototype=Object.create(w.prototype);gF.prototype.constructor=gF;gF.prototype.lB=gF;gF.mB={};b.btGImpactMeshShape=gF;gF.prototype.getMeshInterface=function(){return k(op(this.kB),jE)};gF.prototype.getMeshPartCount=function(){return pp(this.kB)};gF.prototype.getMeshPart=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(qp(c,a),fF)};gF.prototype.calculateSerializeBufferSize=function(){return rp(this.kB)};
+gF.prototype.setLocalScaling=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);sp(c,a)};gF.prototype.getLocalScaling=function(){return k(tp(this.kB),m)};gF.prototype.updateBound=function(){up(this.kB)};gF.prototype.postUpdate=function(){vp(this.kB)};gF.prototype.getShapeType=function(){return wp(this.kB)};gF.prototype.needsRetrieveTriangles=function(){return!!xp(this.kB)};gF.prototype.needsRetrieveTetrahedrons=function(){return!!yp(this.kB)};
+gF.prototype.getBulletTriangle=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);zp(d,a,c)};gF.prototype.getBulletTetrahedron=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Ap(d,a,c)};gF.prototype.__destroy__=function(){Bp(this.kB)};
+function hF(a,c){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);this.kB=void 0===a?Cp():void 0===c?_emscripten_bind_btCollisionAlgorithmConstructionInfo_btCollisionAlgorithmConstructionInfo_1(a):Dp(a,c);h(hF)[this.kB]=this}hF.prototype=Object.create(f.prototype);hF.prototype.constructor=hF;hF.prototype.lB=hF;hF.mB={};b.btCollisionAlgorithmConstructionInfo=hF;hF.prototype.get_m_dispatcher1=hF.prototype.eD=function(){return k(Ep(this.kB),TD)};
+hF.prototype.set_m_dispatcher1=hF.prototype.WF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Fp(c,a)};Object.defineProperty(hF.prototype,"m_dispatcher1",{get:hF.prototype.eD,set:hF.prototype.WF});hF.prototype.get_m_manifold=hF.prototype.KD=function(){return k(Gp(this.kB),oE)};hF.prototype.set_m_manifold=hF.prototype.BG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Hp(c,a)};Object.defineProperty(hF.prototype,"m_manifold",{get:hF.prototype.KD,set:hF.prototype.BG});
+hF.prototype.__destroy__=function(){Ip(this.kB)};function iF(a,c,d){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);this.kB=Jp(a,c,d);h(iF)[this.kB]=this}iF.prototype=Object.create(mE.prototype);iF.prototype.constructor=iF;iF.prototype.lB=iF;iF.mB={};b.btGImpactCollisionAlgorithm=iF;iF.prototype.registerAlgorithm=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Kp(c,a)};iF.prototype.__destroy__=function(){Lp(this.kB)};
+function jF(){this.kB=Mp();h(jF)[this.kB]=this}jF.prototype=Object.create(f.prototype);jF.prototype.constructor=jF;jF.prototype.lB=jF;jF.mB={};b.btDefaultCollisionConstructionInfo=jF;jF.prototype.__destroy__=function(){Np(this.kB)};function oE(){this.kB=Op();h(oE)[this.kB]=this}oE.prototype=Object.create(f.prototype);oE.prototype.constructor=oE;oE.prototype.lB=oE;oE.mB={};b.btPersistentManifold=oE;oE.prototype.getBody0=function(){return k(Pp(this.kB),q)};
+oE.prototype.getBody1=function(){return k(Qp(this.kB),q)};oE.prototype.getNumContacts=function(){return Rp(this.kB)};oE.prototype.getContactPoint=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(Sp(c,a),E)};oE.prototype.__destroy__=function(){Tp(this.kB)};function kF(a){a&&"object"===typeof a&&(a=a.kB);this.kB=Up(a);h(kF)[this.kB]=this}kF.prototype=Object.create(TD.prototype);kF.prototype.constructor=kF;kF.prototype.lB=kF;kF.mB={};b.btCollisionDispatcher=kF;
+kF.prototype.getNumManifolds=function(){return Vp(this.kB)};kF.prototype.getManifoldByIndexInternal=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(Wp(c,a),oE)};kF.prototype.__destroy__=function(){Xp(this.kB)};function lF(){throw"cannot construct a btOverlappingPairCallback, no constructor in IDL";}lF.prototype=Object.create(f.prototype);lF.prototype.constructor=lF;lF.prototype.lB=lF;lF.mB={};b.btOverlappingPairCallback=lF;lF.prototype.__destroy__=function(){Yp(this.kB)};
+function UD(){throw"cannot construct a btOverlappingPairCache, no constructor in IDL";}UD.prototype=Object.create(f.prototype);UD.prototype.constructor=UD;UD.prototype.lB=UD;UD.mB={};b.btOverlappingPairCache=UD;UD.prototype.setInternalGhostPairCallback=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Zp(c,a)};UD.prototype.getNumOverlappingPairs=function(){return $p(this.kB)};UD.prototype.__destroy__=function(){aq(this.kB)};
+function mF(a,c,d,e,g){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);g&&"object"===typeof g&&(g=g.kB);this.kB=void 0===d?bq(a,c):void 0===e?cq(a,c,d):void 0===g?dq(a,c,d,e):eq(a,c,d,e,g);h(mF)[this.kB]=this}mF.prototype=Object.create(f.prototype);mF.prototype.constructor=mF;mF.prototype.lB=mF;mF.mB={};b.btAxisSweep3=mF;mF.prototype.__destroy__=function(){fq(this.kB)};
+function VD(){throw"cannot construct a btBroadphaseInterface, no constructor in IDL";}VD.prototype=Object.create(f.prototype);VD.prototype.constructor=VD;VD.prototype.lB=VD;VD.mB={};b.btBroadphaseInterface=VD;VD.prototype.getOverlappingPairCache=function(){return k(gq(this.kB),UD)};VD.prototype.__destroy__=function(){hq(this.kB)};function nF(){throw"cannot construct a btCollisionConfiguration, no constructor in IDL";}nF.prototype=Object.create(f.prototype);nF.prototype.constructor=nF;
+nF.prototype.lB=nF;nF.mB={};b.btCollisionConfiguration=nF;nF.prototype.__destroy__=function(){iq(this.kB)};function oF(){this.kB=jq();h(oF)[this.kB]=this}oF.prototype=Object.create(f.prototype);oF.prototype.constructor=oF;oF.prototype.lB=oF;oF.mB={};b.btDbvtBroadphase=oF;oF.prototype.__destroy__=function(){kq(this.kB)};function YD(){throw"cannot construct a btBroadphaseProxy, no constructor in IDL";}YD.prototype=Object.create(f.prototype);YD.prototype.constructor=YD;YD.prototype.lB=YD;YD.mB={};
+b.btBroadphaseProxy=YD;YD.prototype.get_m_collisionFilterGroup=YD.prototype.nB=function(){return lq(this.kB)};YD.prototype.set_m_collisionFilterGroup=YD.prototype.pB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);mq(c,a)};Object.defineProperty(YD.prototype,"m_collisionFilterGroup",{get:YD.prototype.nB,set:YD.prototype.pB});YD.prototype.get_m_collisionFilterMask=YD.prototype.oB=function(){return nq(this.kB)};
+YD.prototype.set_m_collisionFilterMask=YD.prototype.qB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);oq(c,a)};Object.defineProperty(YD.prototype,"m_collisionFilterMask",{get:YD.prototype.oB,set:YD.prototype.qB});YD.prototype.__destroy__=function(){pq(this.kB)};function J(a,c,d,e){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);this.kB=void 0===e?qq(a,c,d):rq(a,c,d,e);h(J)[this.kB]=this}J.prototype=Object.create(f.prototype);
+J.prototype.constructor=J;J.prototype.lB=J;J.mB={};b.btRigidBodyConstructionInfo=J;J.prototype.get_m_linearDamping=J.prototype.DD=function(){return sq(this.kB)};J.prototype.set_m_linearDamping=J.prototype.uG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);tq(c,a)};Object.defineProperty(J.prototype,"m_linearDamping",{get:J.prototype.DD,set:J.prototype.uG});J.prototype.get_m_angularDamping=J.prototype.HC=function(){return uq(this.kB)};
+J.prototype.set_m_angularDamping=J.prototype.yF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);vq(c,a)};Object.defineProperty(J.prototype,"m_angularDamping",{get:J.prototype.HC,set:J.prototype.yF});J.prototype.get_m_friction=J.prototype.kD=function(){return wq(this.kB)};J.prototype.set_m_friction=J.prototype.bG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);xq(c,a)};Object.defineProperty(J.prototype,"m_friction",{get:J.prototype.kD,set:J.prototype.bG});
+J.prototype.get_m_rollingFriction=J.prototype.dE=function(){return yq(this.kB)};J.prototype.set_m_rollingFriction=J.prototype.WG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);zq(c,a)};Object.defineProperty(J.prototype,"m_rollingFriction",{get:J.prototype.dE,set:J.prototype.WG});J.prototype.get_m_restitution=J.prototype.bE=function(){return Aq(this.kB)};J.prototype.set_m_restitution=J.prototype.UG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Bq(c,a)};
+Object.defineProperty(J.prototype,"m_restitution",{get:J.prototype.bE,set:J.prototype.UG});J.prototype.get_m_linearSleepingThreshold=J.prototype.ED=function(){return Cq(this.kB)};J.prototype.set_m_linearSleepingThreshold=J.prototype.vG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Dq(c,a)};Object.defineProperty(J.prototype,"m_linearSleepingThreshold",{get:J.prototype.ED,set:J.prototype.vG});J.prototype.get_m_angularSleepingThreshold=J.prototype.IC=function(){return Eq(this.kB)};
+J.prototype.set_m_angularSleepingThreshold=J.prototype.zF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Fq(c,a)};Object.defineProperty(J.prototype,"m_angularSleepingThreshold",{get:J.prototype.IC,set:J.prototype.zF});J.prototype.get_m_additionalDamping=J.prototype.CC=function(){return!!Gq(this.kB)};J.prototype.set_m_additionalDamping=J.prototype.tF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Hq(c,a)};
+Object.defineProperty(J.prototype,"m_additionalDamping",{get:J.prototype.CC,set:J.prototype.tF});J.prototype.get_m_additionalDampingFactor=J.prototype.DC=function(){return Iq(this.kB)};J.prototype.set_m_additionalDampingFactor=J.prototype.uF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Jq(c,a)};Object.defineProperty(J.prototype,"m_additionalDampingFactor",{get:J.prototype.DC,set:J.prototype.uF});J.prototype.get_m_additionalLinearDampingThresholdSqr=J.prototype.EC=function(){return Kq(this.kB)};
+J.prototype.set_m_additionalLinearDampingThresholdSqr=J.prototype.vF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Lq(c,a)};Object.defineProperty(J.prototype,"m_additionalLinearDampingThresholdSqr",{get:J.prototype.EC,set:J.prototype.vF});J.prototype.get_m_additionalAngularDampingThresholdSqr=J.prototype.BC=function(){return Mq(this.kB)};J.prototype.set_m_additionalAngularDampingThresholdSqr=J.prototype.sF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Nq(c,a)};
+Object.defineProperty(J.prototype,"m_additionalAngularDampingThresholdSqr",{get:J.prototype.BC,set:J.prototype.sF});J.prototype.get_m_additionalAngularDampingFactor=J.prototype.AC=function(){return Oq(this.kB)};J.prototype.set_m_additionalAngularDampingFactor=J.prototype.rF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Pq(c,a)};Object.defineProperty(J.prototype,"m_additionalAngularDampingFactor",{get:J.prototype.AC,set:J.prototype.rF});J.prototype.__destroy__=function(){Qq(this.kB)};
+function K(a){a&&"object"===typeof a&&(a=a.kB);this.kB=Rq(a);h(K)[this.kB]=this}K.prototype=Object.create(q.prototype);K.prototype.constructor=K;K.prototype.lB=K;K.mB={};b.btRigidBody=K;K.prototype.getCenterOfMassTransform=function(){return k(Sq(this.kB),r)};K.prototype.setCenterOfMassTransform=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Tq(c,a)};K.prototype.setSleepingThresholds=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Uq(d,a,c)};
+K.prototype.getLinearDamping=function(){return Vq(this.kB)};K.prototype.getAngularDamping=function(){return Wq(this.kB)};K.prototype.setDamping=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Xq(d,a,c)};K.prototype.setMassProps=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Yq(d,a,c)};K.prototype.getLinearFactor=function(){return k(Zq(this.kB),m)};
+K.prototype.setLinearFactor=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);$q(c,a)};K.prototype.applyTorque=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ar(c,a)};K.prototype.applyLocalTorque=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);br(c,a)};K.prototype.applyForce=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);cr(d,a,c)};
+K.prototype.applyCentralForce=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);dr(c,a)};K.prototype.applyCentralLocalForce=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);er(c,a)};K.prototype.applyTorqueImpulse=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);fr(c,a)};K.prototype.applyImpulse=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);gr(d,a,c)};
+K.prototype.applyCentralImpulse=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);hr(c,a)};K.prototype.updateInertiaTensor=function(){ir(this.kB)};K.prototype.getLinearVelocity=function(){return k(jr(this.kB),m)};K.prototype.getAngularVelocity=function(){return k(kr(this.kB),m)};K.prototype.setLinearVelocity=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);lr(c,a)};K.prototype.setAngularVelocity=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);mr(c,a)};
+K.prototype.getMotionState=function(){return k(nr(this.kB),dE)};K.prototype.setMotionState=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);or(c,a)};K.prototype.getAngularFactor=function(){return k(pr(this.kB),m)};K.prototype.setAngularFactor=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);qr(c,a)};K.prototype.upcast=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(rr(c,a),K)};
+K.prototype.getAabb=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);sr(d,a,c)};K.prototype.applyGravity=function(){tr(this.kB)};K.prototype.getGravity=function(){return k(ur(this.kB),m)};K.prototype.setGravity=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);vr(c,a)};K.prototype.getBroadphaseProxy=function(){return k(wr(this.kB),YD)};K.prototype.clearForces=function(){xr(this.kB)};
+K.prototype.setFlags=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);yr(c,a)};K.prototype.getFlags=function(){return zr(this.kB)};K.prototype.setAnisotropicFriction=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Ar(d,a,c)};K.prototype.getCollisionShape=function(){return k(Br(this.kB),l)};K.prototype.setContactProcessingThreshold=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Cr(c,a)};
+K.prototype.setActivationState=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Dr(c,a)};K.prototype.forceActivationState=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Er(c,a)};K.prototype.activate=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);void 0===a?Fr(c):Gr(c,a)};K.prototype.isActive=function(){return!!Hr(this.kB)};K.prototype.isKinematicObject=function(){return!!Ir(this.kB)};K.prototype.isStaticObject=function(){return!!Jr(this.kB)};
+K.prototype.isStaticOrKinematicObject=function(){return!!Kr(this.kB)};K.prototype.getRestitution=function(){return Lr(this.kB)};K.prototype.getFriction=function(){return Mr(this.kB)};K.prototype.getRollingFriction=function(){return Nr(this.kB)};K.prototype.setRestitution=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Or(c,a)};K.prototype.setFriction=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Pr(c,a)};
+K.prototype.setRollingFriction=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Qr(c,a)};K.prototype.getWorldTransform=function(){return k(Rr(this.kB),r)};K.prototype.getCollisionFlags=function(){return Sr(this.kB)};K.prototype.setCollisionFlags=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Tr(c,a)};K.prototype.setWorldTransform=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ur(c,a)};
+K.prototype.setCollisionShape=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Vr(c,a)};K.prototype.setCcdMotionThreshold=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Wr(c,a)};K.prototype.setCcdSweptSphereRadius=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Xr(c,a)};K.prototype.getUserIndex=function(){return Yr(this.kB)};K.prototype.setUserIndex=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Zr(c,a)};
+K.prototype.getUserPointer=function(){return k($r(this.kB),XD)};K.prototype.setUserPointer=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);as(c,a)};K.prototype.getBroadphaseHandle=function(){return k(bs(this.kB),YD)};K.prototype.__destroy__=function(){cs(this.kB)};function L(){this.kB=ds();h(L)[this.kB]=this}L.prototype=Object.create(f.prototype);L.prototype.constructor=L;L.prototype.lB=L;L.mB={};b.btConstraintSetting=L;L.prototype.get_m_tau=L.prototype.sE=function(){return es(this.kB)};
+L.prototype.set_m_tau=L.prototype.kH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);gs(c,a)};Object.defineProperty(L.prototype,"m_tau",{get:L.prototype.sE,set:L.prototype.kH});L.prototype.get_m_damping=L.prototype.aD=function(){return hs(this.kB)};L.prototype.set_m_damping=L.prototype.SF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);is(c,a)};Object.defineProperty(L.prototype,"m_damping",{get:L.prototype.aD,set:L.prototype.SF});
+L.prototype.get_m_impulseClamp=L.prototype.wD=function(){return js(this.kB)};L.prototype.set_m_impulseClamp=L.prototype.nG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ks(c,a)};Object.defineProperty(L.prototype,"m_impulseClamp",{get:L.prototype.wD,set:L.prototype.nG});L.prototype.__destroy__=function(){ls(this.kB)};
+function pF(a,c,d,e){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);this.kB=void 0===d?ms(a,c):void 0===e?_emscripten_bind_btPoint2PointConstraint_btPoint2PointConstraint_3(a,c,d):ns(a,c,d,e);h(pF)[this.kB]=this}pF.prototype=Object.create(aE.prototype);pF.prototype.constructor=pF;pF.prototype.lB=pF;pF.mB={};b.btPoint2PointConstraint=pF;
+pF.prototype.setPivotA=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ps(c,a)};pF.prototype.setPivotB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);qs(c,a)};pF.prototype.getPivotInA=function(){return k(rs(this.kB),m)};pF.prototype.getPivotInB=function(){return k(ss(this.kB),m)};pF.prototype.enableFeedback=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ts(c,a)};pF.prototype.getBreakingImpulseThreshold=function(){return us(this.kB)};
+pF.prototype.setBreakingImpulseThreshold=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);vs(c,a)};pF.prototype.getParam=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);return xs(d,a,c)};pF.prototype.setParam=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);ys(e,a,c,d)};pF.prototype.get_m_setting=pF.prototype.fE=function(){return k(zs(this.kB),L)};
+pF.prototype.set_m_setting=pF.prototype.YG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);As(c,a)};Object.defineProperty(pF.prototype,"m_setting",{get:pF.prototype.fE,set:pF.prototype.YG});pF.prototype.__destroy__=function(){Bs(this.kB)};
+function qF(a,c,d,e,g){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);g&&"object"===typeof g&&(g=g.kB);this.kB=void 0===e?Cs(a,c,d):void 0===g?_emscripten_bind_btGeneric6DofSpringConstraint_btGeneric6DofSpringConstraint_4(a,c,d,e):Ds(a,c,d,e,g);h(qF)[this.kB]=this}qF.prototype=Object.create(pE.prototype);qF.prototype.constructor=qF;qF.prototype.lB=qF;qF.mB={};b.btGeneric6DofSpringConstraint=qF;
+qF.prototype.enableSpring=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Es(d,a,c)};qF.prototype.setStiffness=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Fs(d,a,c)};qF.prototype.setDamping=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Gs(d,a,c)};
+qF.prototype.setEquilibriumPoint=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);void 0===a?Hs(d):void 0===c?Is(d,a):Js(d,a,c)};qF.prototype.setLinearLowerLimit=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ks(c,a)};qF.prototype.setLinearUpperLimit=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ls(c,a)};qF.prototype.setAngularLowerLimit=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ms(c,a)};
+qF.prototype.setAngularUpperLimit=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ns(c,a)};qF.prototype.getFrameOffsetA=function(){return k(Os(this.kB),r)};qF.prototype.enableFeedback=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ps(c,a)};qF.prototype.getBreakingImpulseThreshold=function(){return Qs(this.kB)};qF.prototype.setBreakingImpulseThreshold=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Rs(c,a)};
+qF.prototype.getParam=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);return Ss(d,a,c)};qF.prototype.setParam=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);Ts(e,a,c,d)};qF.prototype.__destroy__=function(){Us(this.kB)};function rF(){this.kB=Vs();h(rF)[this.kB]=this}rF.prototype=Object.create(f.prototype);rF.prototype.constructor=rF;rF.prototype.lB=rF;rF.mB={};
+b.btSequentialImpulseConstraintSolver=rF;rF.prototype.__destroy__=function(){Ws(this.kB)};function sF(a,c,d,e){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);this.kB=void 0===d?Xs(a,c):void 0===e?_emscripten_bind_btConeTwistConstraint_btConeTwistConstraint_3(a,c,d):Ys(a,c,d,e);h(sF)[this.kB]=this}sF.prototype=Object.create(aE.prototype);sF.prototype.constructor=sF;sF.prototype.lB=sF;sF.mB={};
+b.btConeTwistConstraint=sF;sF.prototype.setLimit=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Zs(d,a,c)};sF.prototype.setAngularOnly=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);$s(c,a)};sF.prototype.setDamping=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);at(c,a)};sF.prototype.enableMotor=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);bt(c,a)};
+sF.prototype.setMaxMotorImpulse=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ct(c,a)};sF.prototype.setMaxMotorImpulseNormalized=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);dt(c,a)};sF.prototype.setMotorTarget=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);et(c,a)};sF.prototype.setMotorTargetInConstraintSpace=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ft(c,a)};
+sF.prototype.enableFeedback=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);gt(c,a)};sF.prototype.getBreakingImpulseThreshold=function(){return ht(this.kB)};sF.prototype.setBreakingImpulseThreshold=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);it(c,a)};sF.prototype.getParam=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);return jt(d,a,c)};
+sF.prototype.setParam=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);kt(e,a,c,d)};sF.prototype.__destroy__=function(){lt(this.kB)};
+function tF(a,c,d,e,g,n,z){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);g&&"object"===typeof g&&(g=g.kB);n&&"object"===typeof n&&(n=n.kB);z&&"object"===typeof z&&(z=z.kB);this.kB=void 0===d?mt(a,c):void 0===e?nt(a,c,d):void 0===g?ot(a,c,d,e):void 0===n?pt(a,c,d,e,g):void 0===z?qt(a,c,d,e,g,n):rt(a,c,d,e,g,n,z);h(tF)[this.kB]=this}tF.prototype=Object.create(aE.prototype);tF.prototype.constructor=tF;
+tF.prototype.lB=tF;tF.mB={};b.btHingeConstraint=tF;tF.prototype.getHingeAngle=function(){return st(this.kB)};tF.prototype.setLimit=function(a,c,d,e,g){var n=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);g&&"object"===typeof g&&(g=g.kB);void 0===g?tt(n,a,c,d,e):ut(n,a,c,d,e,g)};
+tF.prototype.enableAngularMotor=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);vt(e,a,c,d)};tF.prototype.setAngularOnly=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);wt(c,a)};tF.prototype.enableMotor=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);xt(c,a)};tF.prototype.setMaxMotorImpulse=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);yt(c,a)};
+tF.prototype.setMotorTarget=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);zt(d,a,c)};tF.prototype.enableFeedback=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);At(c,a)};tF.prototype.getBreakingImpulseThreshold=function(){return Bt(this.kB)};tF.prototype.setBreakingImpulseThreshold=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ct(c,a)};
+tF.prototype.getParam=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);return Dt(d,a,c)};tF.prototype.setParam=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);Et(e,a,c,d)};tF.prototype.__destroy__=function(){Ft(this.kB)};
+function uF(a,c,d,e,g){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);g&&"object"===typeof g&&(g=g.kB);this.kB=void 0===e?Gt(a,c,d):void 0===g?_emscripten_bind_btSliderConstraint_btSliderConstraint_4(a,c,d,e):Ht(a,c,d,e,g);h(uF)[this.kB]=this}uF.prototype=Object.create(aE.prototype);uF.prototype.constructor=uF;uF.prototype.lB=uF;uF.mB={};b.btSliderConstraint=uF;uF.prototype.getLinearPos=function(){return It(this.kB)};
+uF.prototype.getAngularPos=function(){return Jt(this.kB)};uF.prototype.setLowerLinLimit=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Kt(c,a)};uF.prototype.setUpperLinLimit=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Lt(c,a)};uF.prototype.setLowerAngLimit=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Mt(c,a)};uF.prototype.setUpperAngLimit=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Nt(c,a)};
+uF.prototype.setPoweredLinMotor=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ot(c,a)};uF.prototype.setMaxLinMotorForce=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Pt(c,a)};uF.prototype.setTargetLinMotorVelocity=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Qt(c,a)};uF.prototype.enableFeedback=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Rt(c,a)};uF.prototype.getBreakingImpulseThreshold=function(){return St(this.kB)};
+uF.prototype.setBreakingImpulseThreshold=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Tt(c,a)};uF.prototype.getParam=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);return Ut(d,a,c)};uF.prototype.setParam=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);Vt(e,a,c,d)};uF.prototype.__destroy__=function(){Wt(this.kB)};
+function vF(a,c,d,e){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);this.kB=Xt(a,c,d,e);h(vF)[this.kB]=this}vF.prototype=Object.create(aE.prototype);vF.prototype.constructor=vF;vF.prototype.lB=vF;vF.mB={};b.btFixedConstraint=vF;vF.prototype.enableFeedback=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Yt(c,a)};vF.prototype.getBreakingImpulseThreshold=function(){return Zt(this.kB)};
+vF.prototype.setBreakingImpulseThreshold=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);$t(c,a)};vF.prototype.getParam=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);return au(d,a,c)};vF.prototype.setParam=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);bu(e,a,c,d)};vF.prototype.__destroy__=function(){cu(this.kB)};
+function wF(){throw"cannot construct a btConstraintSolver, no constructor in IDL";}wF.prototype=Object.create(f.prototype);wF.prototype.constructor=wF;wF.prototype.lB=wF;wF.mB={};b.btConstraintSolver=wF;wF.prototype.__destroy__=function(){du(this.kB)};function p(){throw"cannot construct a btDispatcherInfo, no constructor in IDL";}p.prototype=Object.create(f.prototype);p.prototype.constructor=p;p.prototype.lB=p;p.mB={};b.btDispatcherInfo=p;p.prototype.get_m_timeStep=p.prototype.uE=function(){return eu(this.kB)};
+p.prototype.set_m_timeStep=p.prototype.mH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);fu(c,a)};Object.defineProperty(p.prototype,"m_timeStep",{get:p.prototype.uE,set:p.prototype.mH});p.prototype.get_m_stepCount=p.prototype.lE=function(){return gu(this.kB)};p.prototype.set_m_stepCount=p.prototype.dH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);hu(c,a)};Object.defineProperty(p.prototype,"m_stepCount",{get:p.prototype.lE,set:p.prototype.dH});
+p.prototype.get_m_dispatchFunc=p.prototype.cD=function(){return iu(this.kB)};p.prototype.set_m_dispatchFunc=p.prototype.UF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ju(c,a)};Object.defineProperty(p.prototype,"m_dispatchFunc",{get:p.prototype.cD,set:p.prototype.UF});p.prototype.get_m_timeOfImpact=p.prototype.tE=function(){return ku(this.kB)};p.prototype.set_m_timeOfImpact=p.prototype.lH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);lu(c,a)};
+Object.defineProperty(p.prototype,"m_timeOfImpact",{get:p.prototype.tE,set:p.prototype.lH});p.prototype.get_m_useContinuous=p.prototype.wE=function(){return!!mu(this.kB)};p.prototype.set_m_useContinuous=p.prototype.oH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);nu(c,a)};Object.defineProperty(p.prototype,"m_useContinuous",{get:p.prototype.wE,set:p.prototype.oH});p.prototype.get_m_enableSatConvex=p.prototype.hD=function(){return!!ou(this.kB)};
+p.prototype.set_m_enableSatConvex=p.prototype.ZF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);pu(c,a)};Object.defineProperty(p.prototype,"m_enableSatConvex",{get:p.prototype.hD,set:p.prototype.ZF});p.prototype.get_m_enableSPU=p.prototype.gD=function(){return!!qu(this.kB)};p.prototype.set_m_enableSPU=p.prototype.YF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ru(c,a)};Object.defineProperty(p.prototype,"m_enableSPU",{get:p.prototype.gD,set:p.prototype.YF});
+p.prototype.get_m_useEpa=p.prototype.yE=function(){return!!su(this.kB)};p.prototype.set_m_useEpa=p.prototype.qH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);tu(c,a)};Object.defineProperty(p.prototype,"m_useEpa",{get:p.prototype.yE,set:p.prototype.qH});p.prototype.get_m_allowedCcdPenetration=p.prototype.FC=function(){return uu(this.kB)};p.prototype.set_m_allowedCcdPenetration=p.prototype.wF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);vu(c,a)};
+Object.defineProperty(p.prototype,"m_allowedCcdPenetration",{get:p.prototype.FC,set:p.prototype.wF});p.prototype.get_m_useConvexConservativeDistanceUtil=p.prototype.xE=function(){return!!wu(this.kB)};p.prototype.set_m_useConvexConservativeDistanceUtil=p.prototype.pH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);xu(c,a)};Object.defineProperty(p.prototype,"m_useConvexConservativeDistanceUtil",{get:p.prototype.xE,set:p.prototype.pH});
+p.prototype.get_m_convexConservativeDistanceThreshold=p.prototype.YC=function(){return yu(this.kB)};p.prototype.set_m_convexConservativeDistanceThreshold=p.prototype.PF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);zu(c,a)};Object.defineProperty(p.prototype,"m_convexConservativeDistanceThreshold",{get:p.prototype.YC,set:p.prototype.PF});p.prototype.__destroy__=function(){Au(this.kB)};function t(){throw"cannot construct a btContactSolverInfo, no constructor in IDL";}t.prototype=Object.create(f.prototype);
+t.prototype.constructor=t;t.prototype.lB=t;t.mB={};b.btContactSolverInfo=t;t.prototype.get_m_splitImpulse=t.prototype.iE=function(){return!!Bu(this.kB)};t.prototype.set_m_splitImpulse=t.prototype.aH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Cu(c,a)};Object.defineProperty(t.prototype,"m_splitImpulse",{get:t.prototype.iE,set:t.prototype.aH});t.prototype.get_m_splitImpulsePenetrationThreshold=t.prototype.jE=function(){return Du(this.kB)};
+t.prototype.set_m_splitImpulsePenetrationThreshold=t.prototype.bH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Eu(c,a)};Object.defineProperty(t.prototype,"m_splitImpulsePenetrationThreshold",{get:t.prototype.jE,set:t.prototype.bH});t.prototype.get_m_numIterations=t.prototype.TD=function(){return Fu(this.kB)};t.prototype.set_m_numIterations=t.prototype.KG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Gu(c,a)};
+Object.defineProperty(t.prototype,"m_numIterations",{get:t.prototype.TD,set:t.prototype.KG});t.prototype.__destroy__=function(){Hu(this.kB)};function M(){this.kB=Iu();h(M)[this.kB]=this}M.prototype=Object.create(f.prototype);M.prototype.constructor=M;M.prototype.lB=M;M.mB={};b.btVehicleTuning=M;M.prototype.get_m_suspensionStiffness=M.prototype.BB=function(){return Ju(this.kB)};M.prototype.set_m_suspensionStiffness=M.prototype.IB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ku(c,a)};
+Object.defineProperty(M.prototype,"m_suspensionStiffness",{get:M.prototype.BB,set:M.prototype.IB});M.prototype.get_m_suspensionCompression=M.prototype.mE=function(){return Lu(this.kB)};M.prototype.set_m_suspensionCompression=M.prototype.eH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Mu(c,a)};Object.defineProperty(M.prototype,"m_suspensionCompression",{get:M.prototype.mE,set:M.prototype.eH});M.prototype.get_m_suspensionDamping=M.prototype.nE=function(){return Nu(this.kB)};
+M.prototype.set_m_suspensionDamping=M.prototype.fH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ou(c,a)};Object.defineProperty(M.prototype,"m_suspensionDamping",{get:M.prototype.nE,set:M.prototype.fH});M.prototype.get_m_maxSuspensionTravelCm=M.prototype.AB=function(){return Pu(this.kB)};M.prototype.set_m_maxSuspensionTravelCm=M.prototype.HB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Qu(c,a)};
+Object.defineProperty(M.prototype,"m_maxSuspensionTravelCm",{get:M.prototype.AB,set:M.prototype.HB});M.prototype.get_m_frictionSlip=M.prototype.wB=function(){return Ru(this.kB)};M.prototype.set_m_frictionSlip=M.prototype.DB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Su(c,a)};Object.defineProperty(M.prototype,"m_frictionSlip",{get:M.prototype.wB,set:M.prototype.DB});M.prototype.get_m_maxSuspensionForce=M.prototype.zB=function(){return Tu(this.kB)};
+M.prototype.set_m_maxSuspensionForce=M.prototype.GB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Uu(c,a)};Object.defineProperty(M.prototype,"m_maxSuspensionForce",{get:M.prototype.zB,set:M.prototype.GB});function xF(){throw"cannot construct a btVehicleRaycasterResult, no constructor in IDL";}xF.prototype=Object.create(f.prototype);xF.prototype.constructor=xF;xF.prototype.lB=xF;xF.mB={};b.btVehicleRaycasterResult=xF;
+xF.prototype.get_m_hitPointInWorld=xF.prototype.tD=function(){return k(Vu(this.kB),m)};xF.prototype.set_m_hitPointInWorld=xF.prototype.kG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Wu(c,a)};Object.defineProperty(xF.prototype,"m_hitPointInWorld",{get:xF.prototype.tD,set:xF.prototype.kG});xF.prototype.get_m_hitNormalInWorld=xF.prototype.rD=function(){return k(Xu(this.kB),m)};
+xF.prototype.set_m_hitNormalInWorld=xF.prototype.iG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Yu(c,a)};Object.defineProperty(xF.prototype,"m_hitNormalInWorld",{get:xF.prototype.rD,set:xF.prototype.iG});xF.prototype.get_m_distFraction=xF.prototype.fD=function(){return Zu(this.kB)};xF.prototype.set_m_distFraction=xF.prototype.XF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);$u(c,a)};Object.defineProperty(xF.prototype,"m_distFraction",{get:xF.prototype.fD,set:xF.prototype.XF});
+xF.prototype.__destroy__=function(){av(this.kB)};function yF(a){a&&"object"===typeof a&&(a=a.kB);this.kB=bv(a);h(yF)[this.kB]=this}yF.prototype=Object.create(qE.prototype);yF.prototype.constructor=yF;yF.prototype.lB=yF;yF.mB={};b.btDefaultVehicleRaycaster=yF;yF.prototype.castRay=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);cv(e,a,c,d)};yF.prototype.__destroy__=function(){dv(this.kB)};
+function N(){throw"cannot construct a RaycastInfo, no constructor in IDL";}N.prototype=Object.create(f.prototype);N.prototype.constructor=N;N.prototype.lB=N;N.mB={};b.RaycastInfo=N;N.prototype.get_m_contactNormalWS=N.prototype.WC=function(){return k(ev(this.kB),m)};N.prototype.set_m_contactNormalWS=N.prototype.NF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);fv(c,a)};Object.defineProperty(N.prototype,"m_contactNormalWS",{get:N.prototype.WC,set:N.prototype.NF});
+N.prototype.get_m_contactPointWS=N.prototype.XC=function(){return k(gv(this.kB),m)};N.prototype.set_m_contactPointWS=N.prototype.OF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);hv(c,a)};Object.defineProperty(N.prototype,"m_contactPointWS",{get:N.prototype.XC,set:N.prototype.OF});N.prototype.get_m_suspensionLength=N.prototype.oE=function(){return iv(this.kB)};N.prototype.set_m_suspensionLength=N.prototype.gH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);jv(c,a)};
+Object.defineProperty(N.prototype,"m_suspensionLength",{get:N.prototype.oE,set:N.prototype.gH});N.prototype.get_m_hardPointWS=N.prototype.oD=function(){return k(kv(this.kB),m)};N.prototype.set_m_hardPointWS=N.prototype.fG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);lv(c,a)};Object.defineProperty(N.prototype,"m_hardPointWS",{get:N.prototype.oD,set:N.prototype.fG});N.prototype.get_m_wheelDirectionWS=N.prototype.DE=function(){return k(mv(this.kB),m)};
+N.prototype.set_m_wheelDirectionWS=N.prototype.vH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);nv(c,a)};Object.defineProperty(N.prototype,"m_wheelDirectionWS",{get:N.prototype.DE,set:N.prototype.vH});N.prototype.get_m_wheelAxleWS=N.prototype.CE=function(){return k(ov(this.kB),m)};N.prototype.set_m_wheelAxleWS=N.prototype.uH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);pv(c,a)};Object.defineProperty(N.prototype,"m_wheelAxleWS",{get:N.prototype.CE,set:N.prototype.uH});
+N.prototype.get_m_isInContact=N.prototype.zD=function(){return!!qv(this.kB)};N.prototype.set_m_isInContact=N.prototype.qG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);rv(c,a)};Object.defineProperty(N.prototype,"m_isInContact",{get:N.prototype.zD,set:N.prototype.qG});N.prototype.get_m_groundObject=N.prototype.nD=function(){return sv(this.kB)};N.prototype.set_m_groundObject=N.prototype.eG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);tv(c,a)};
+Object.defineProperty(N.prototype,"m_groundObject",{get:N.prototype.nD,set:N.prototype.eG});N.prototype.__destroy__=function(){uv(this.kB)};function O(){throw"cannot construct a btWheelInfoConstructionInfo, no constructor in IDL";}O.prototype=Object.create(f.prototype);O.prototype.constructor=O;O.prototype.lB=O;O.mB={};b.btWheelInfoConstructionInfo=O;O.prototype.get_m_chassisConnectionCS=O.prototype.RC=function(){return k(vv(this.kB),m)};
+O.prototype.set_m_chassisConnectionCS=O.prototype.IF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);wv(c,a)};Object.defineProperty(O.prototype,"m_chassisConnectionCS",{get:O.prototype.RC,set:O.prototype.IF});O.prototype.get_m_wheelDirectionCS=O.prototype.QB=function(){return k(xv(this.kB),m)};O.prototype.set_m_wheelDirectionCS=O.prototype.$B=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);yv(c,a)};Object.defineProperty(O.prototype,"m_wheelDirectionCS",{get:O.prototype.QB,set:O.prototype.$B});
+O.prototype.get_m_wheelAxleCS=O.prototype.PB=function(){return k(zv(this.kB),m)};O.prototype.set_m_wheelAxleCS=O.prototype.ZB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Av(c,a)};Object.defineProperty(O.prototype,"m_wheelAxleCS",{get:O.prototype.PB,set:O.prototype.ZB});O.prototype.get_m_suspensionRestLength=O.prototype.qE=function(){return Bv(this.kB)};O.prototype.set_m_suspensionRestLength=O.prototype.iH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Cv(c,a)};
+Object.defineProperty(O.prototype,"m_suspensionRestLength",{get:O.prototype.qE,set:O.prototype.iH});O.prototype.get_m_maxSuspensionTravelCm=O.prototype.AB=function(){return Dv(this.kB)};O.prototype.set_m_maxSuspensionTravelCm=O.prototype.HB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ev(c,a)};Object.defineProperty(O.prototype,"m_maxSuspensionTravelCm",{get:O.prototype.AB,set:O.prototype.HB});O.prototype.get_m_wheelRadius=O.prototype.EE=function(){return Fv(this.kB)};
+O.prototype.set_m_wheelRadius=O.prototype.wH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Gv(c,a)};Object.defineProperty(O.prototype,"m_wheelRadius",{get:O.prototype.EE,set:O.prototype.wH});O.prototype.get_m_suspensionStiffness=O.prototype.BB=function(){return Hv(this.kB)};O.prototype.set_m_suspensionStiffness=O.prototype.IB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Iv(c,a)};Object.defineProperty(O.prototype,"m_suspensionStiffness",{get:O.prototype.BB,set:O.prototype.IB});
+O.prototype.get_m_wheelsDampingCompression=O.prototype.RB=function(){return Jv(this.kB)};O.prototype.set_m_wheelsDampingCompression=O.prototype.aC=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Kv(c,a)};Object.defineProperty(O.prototype,"m_wheelsDampingCompression",{get:O.prototype.RB,set:O.prototype.aC});O.prototype.get_m_wheelsDampingRelaxation=O.prototype.SB=function(){return Lv(this.kB)};
+O.prototype.set_m_wheelsDampingRelaxation=O.prototype.bC=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Mv(c,a)};Object.defineProperty(O.prototype,"m_wheelsDampingRelaxation",{get:O.prototype.SB,set:O.prototype.bC});O.prototype.get_m_frictionSlip=O.prototype.wB=function(){return Nv(this.kB)};O.prototype.set_m_frictionSlip=O.prototype.DB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ov(c,a)};Object.defineProperty(O.prototype,"m_frictionSlip",{get:O.prototype.wB,set:O.prototype.DB});
+O.prototype.get_m_maxSuspensionForce=O.prototype.zB=function(){return Pv(this.kB)};O.prototype.set_m_maxSuspensionForce=O.prototype.GB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Qv(c,a)};Object.defineProperty(O.prototype,"m_maxSuspensionForce",{get:O.prototype.zB,set:O.prototype.GB});O.prototype.get_m_bIsFrontWheel=O.prototype.JB=function(){return!!Rv(this.kB)};O.prototype.set_m_bIsFrontWheel=O.prototype.TB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Sv(c,a)};
+Object.defineProperty(O.prototype,"m_bIsFrontWheel",{get:O.prototype.JB,set:O.prototype.TB});O.prototype.__destroy__=function(){Tv(this.kB)};function P(a){a&&"object"===typeof a&&(a=a.kB);this.kB=Uv(a);h(P)[this.kB]=this}P.prototype=Object.create(f.prototype);P.prototype.constructor=P;P.prototype.lB=P;P.mB={};b.btWheelInfo=P;P.prototype.getSuspensionRestLength=function(){return Vv(this.kB)};
+P.prototype.updateWheel=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Wv(d,a,c)};P.prototype.get_m_suspensionStiffness=P.prototype.BB=function(){return Xv(this.kB)};P.prototype.set_m_suspensionStiffness=P.prototype.IB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Yv(c,a)};Object.defineProperty(P.prototype,"m_suspensionStiffness",{get:P.prototype.BB,set:P.prototype.IB});P.prototype.get_m_frictionSlip=P.prototype.wB=function(){return Zv(this.kB)};
+P.prototype.set_m_frictionSlip=P.prototype.DB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);$v(c,a)};Object.defineProperty(P.prototype,"m_frictionSlip",{get:P.prototype.wB,set:P.prototype.DB});P.prototype.get_m_engineForce=P.prototype.iD=function(){return aw(this.kB)};P.prototype.set_m_engineForce=P.prototype.$F=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);bw(c,a)};Object.defineProperty(P.prototype,"m_engineForce",{get:P.prototype.iD,set:P.prototype.$F});
+P.prototype.get_m_rollInfluence=P.prototype.cE=function(){return cw(this.kB)};P.prototype.set_m_rollInfluence=P.prototype.VG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);dw(c,a)};Object.defineProperty(P.prototype,"m_rollInfluence",{get:P.prototype.cE,set:P.prototype.VG});P.prototype.get_m_suspensionRestLength1=P.prototype.rE=function(){return ew(this.kB)};P.prototype.set_m_suspensionRestLength1=P.prototype.jH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);fw(c,a)};
+Object.defineProperty(P.prototype,"m_suspensionRestLength1",{get:P.prototype.rE,set:P.prototype.jH});P.prototype.get_m_wheelsRadius=P.prototype.FE=function(){return gw(this.kB)};P.prototype.set_m_wheelsRadius=P.prototype.xH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);hw(c,a)};Object.defineProperty(P.prototype,"m_wheelsRadius",{get:P.prototype.FE,set:P.prototype.xH});P.prototype.get_m_wheelsDampingCompression=P.prototype.RB=function(){return iw(this.kB)};
+P.prototype.set_m_wheelsDampingCompression=P.prototype.aC=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);jw(c,a)};Object.defineProperty(P.prototype,"m_wheelsDampingCompression",{get:P.prototype.RB,set:P.prototype.aC});P.prototype.get_m_wheelsDampingRelaxation=P.prototype.SB=function(){return kw(this.kB)};P.prototype.set_m_wheelsDampingRelaxation=P.prototype.bC=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);lw(c,a)};
+Object.defineProperty(P.prototype,"m_wheelsDampingRelaxation",{get:P.prototype.SB,set:P.prototype.bC});P.prototype.get_m_steering=P.prototype.kE=function(){return mw(this.kB)};P.prototype.set_m_steering=P.prototype.cH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);nw(c,a)};Object.defineProperty(P.prototype,"m_steering",{get:P.prototype.kE,set:P.prototype.cH});P.prototype.get_m_maxSuspensionForce=P.prototype.zB=function(){return ow(this.kB)};
+P.prototype.set_m_maxSuspensionForce=P.prototype.GB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);pw(c,a)};Object.defineProperty(P.prototype,"m_maxSuspensionForce",{get:P.prototype.zB,set:P.prototype.GB});P.prototype.get_m_maxSuspensionTravelCm=P.prototype.AB=function(){return qw(this.kB)};P.prototype.set_m_maxSuspensionTravelCm=P.prototype.HB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);rw(c,a)};
+Object.defineProperty(P.prototype,"m_maxSuspensionTravelCm",{get:P.prototype.AB,set:P.prototype.HB});P.prototype.get_m_wheelsSuspensionForce=P.prototype.GE=function(){return sw(this.kB)};P.prototype.set_m_wheelsSuspensionForce=P.prototype.yH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);tw(c,a)};Object.defineProperty(P.prototype,"m_wheelsSuspensionForce",{get:P.prototype.GE,set:P.prototype.yH});P.prototype.get_m_bIsFrontWheel=P.prototype.JB=function(){return!!uw(this.kB)};
+P.prototype.set_m_bIsFrontWheel=P.prototype.TB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);vw(c,a)};Object.defineProperty(P.prototype,"m_bIsFrontWheel",{get:P.prototype.JB,set:P.prototype.TB});P.prototype.get_m_raycastInfo=P.prototype.aE=function(){return k(ww(this.kB),N)};P.prototype.set_m_raycastInfo=P.prototype.TG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);xw(c,a)};Object.defineProperty(P.prototype,"m_raycastInfo",{get:P.prototype.aE,set:P.prototype.TG});
+P.prototype.get_m_chassisConnectionPointCS=P.prototype.SC=function(){return k(yw(this.kB),m)};P.prototype.set_m_chassisConnectionPointCS=P.prototype.JF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);zw(c,a)};Object.defineProperty(P.prototype,"m_chassisConnectionPointCS",{get:P.prototype.SC,set:P.prototype.JF});P.prototype.get_m_worldTransform=P.prototype.HE=function(){return k(Aw(this.kB),r)};
+P.prototype.set_m_worldTransform=P.prototype.zH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Bw(c,a)};Object.defineProperty(P.prototype,"m_worldTransform",{get:P.prototype.HE,set:P.prototype.zH});P.prototype.get_m_wheelDirectionCS=P.prototype.QB=function(){return k(Cw(this.kB),m)};P.prototype.set_m_wheelDirectionCS=P.prototype.$B=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Dw(c,a)};Object.defineProperty(P.prototype,"m_wheelDirectionCS",{get:P.prototype.QB,set:P.prototype.$B});
+P.prototype.get_m_wheelAxleCS=P.prototype.PB=function(){return k(Ew(this.kB),m)};P.prototype.set_m_wheelAxleCS=P.prototype.ZB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Fw(c,a)};Object.defineProperty(P.prototype,"m_wheelAxleCS",{get:P.prototype.PB,set:P.prototype.ZB});P.prototype.get_m_rotation=P.prototype.eE=function(){return Gw(this.kB)};P.prototype.set_m_rotation=P.prototype.XG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Hw(c,a)};
+Object.defineProperty(P.prototype,"m_rotation",{get:P.prototype.eE,set:P.prototype.XG});P.prototype.get_m_deltaRotation=P.prototype.bD=function(){return Iw(this.kB)};P.prototype.set_m_deltaRotation=P.prototype.TF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Jw(c,a)};Object.defineProperty(P.prototype,"m_deltaRotation",{get:P.prototype.bD,set:P.prototype.TF});P.prototype.get_m_brake=P.prototype.LC=function(){return Kw(this.kB)};
+P.prototype.set_m_brake=P.prototype.CF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Lw(c,a)};Object.defineProperty(P.prototype,"m_brake",{get:P.prototype.LC,set:P.prototype.CF});P.prototype.get_m_clippedInvContactDotSuspension=P.prototype.TC=function(){return Mw(this.kB)};P.prototype.set_m_clippedInvContactDotSuspension=P.prototype.KF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Nw(c,a)};
+Object.defineProperty(P.prototype,"m_clippedInvContactDotSuspension",{get:P.prototype.TC,set:P.prototype.KF});P.prototype.get_m_suspensionRelativeVelocity=P.prototype.pE=function(){return Ow(this.kB)};P.prototype.set_m_suspensionRelativeVelocity=P.prototype.hH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Pw(c,a)};Object.defineProperty(P.prototype,"m_suspensionRelativeVelocity",{get:P.prototype.pE,set:P.prototype.hH});P.prototype.get_m_skidInfo=P.prototype.hE=function(){return Qw(this.kB)};
+P.prototype.set_m_skidInfo=P.prototype.$G=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Rw(c,a)};Object.defineProperty(P.prototype,"m_skidInfo",{get:P.prototype.hE,set:P.prototype.$G});P.prototype.__destroy__=function(){Sw(this.kB)};function zF(a,c,d,e){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);this.kB=void 0===e?Tw(a,c,d):Uw(a,c,d,e);h(zF)[this.kB]=this}zF.prototype=Object.create(rE.prototype);
+zF.prototype.constructor=zF;zF.prototype.lB=zF;zF.mB={};b.btKinematicCharacterController=zF;zF.prototype.setUpAxis=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Vw(c,a)};zF.prototype.setWalkDirection=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ww(c,a)};zF.prototype.setVelocityForTimeInterval=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Xw(d,a,c)};
+zF.prototype.warp=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Yw(c,a)};zF.prototype.preStep=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Zw(c,a)};zF.prototype.playerStep=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);$w(d,a,c)};zF.prototype.setFallSpeed=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ax(c,a)};zF.prototype.setJumpSpeed=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);bx(c,a)};
+zF.prototype.setMaxJumpHeight=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);cx(c,a)};zF.prototype.canJump=function(){return!!dx(this.kB)};zF.prototype.jump=function(){ex(this.kB)};zF.prototype.setGravity=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);fx(c,a)};zF.prototype.getGravity=function(){return gx(this.kB)};zF.prototype.setMaxSlope=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);hx(c,a)};zF.prototype.getMaxSlope=function(){return ix(this.kB)};
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+function R(a,c,d){a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);this.kB=px(a,c,d);h(R)[this.kB]=this}R.prototype=Object.create(rE.prototype);R.prototype.constructor=R;R.prototype.lB=R;R.mB={};b.btRaycastVehicle=R;R.prototype.applyEngineForce=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);qx(d,a,c)};
+R.prototype.setSteeringValue=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);rx(d,a,c)};R.prototype.getWheelTransformWS=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(sx(c,a),r)};R.prototype.updateWheelTransform=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);tx(d,a,c)};
+R.prototype.addWheel=function(a,c,d,e,g,n,z){var T=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);g&&"object"===typeof g&&(g=g.kB);n&&"object"===typeof n&&(n=n.kB);z&&"object"===typeof z&&(z=z.kB);return k(ux(T,a,c,d,e,g,n,z),P)};R.prototype.getNumWheels=function(){return vx(this.kB)};R.prototype.getRigidBody=function(){return k(wx(this.kB),K)};
+R.prototype.getWheelInfo=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(xx(c,a),P)};R.prototype.setBrake=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);yx(d,a,c)};R.prototype.setCoordinateSystem=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);zx(e,a,c,d)};R.prototype.getCurrentSpeedKmHour=function(){return Ax(this.kB)};
+R.prototype.getChassisWorldTransform=function(){return k(Bx(this.kB),r)};R.prototype.rayCast=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return Cx(c,a)};R.prototype.updateVehicle=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Dx(c,a)};R.prototype.resetSuspension=function(){Ex(this.kB)};R.prototype.getSteeringValue=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return Fx(c,a)};
+R.prototype.updateWheelTransformsWS=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);void 0===c?Gx(d,a):Hx(d,a,c)};R.prototype.setPitchControl=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ix(c,a)};R.prototype.updateSuspension=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Jx(c,a)};R.prototype.updateFriction=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Kx(c,a)};R.prototype.getRightAxis=function(){return Lx(this.kB)};
+R.prototype.getUpAxis=function(){return Mx(this.kB)};R.prototype.getForwardAxis=function(){return Nx(this.kB)};R.prototype.getForwardVector=function(){return k(Ox(this.kB),m)};R.prototype.getUserConstraintType=function(){return Px(this.kB)};R.prototype.setUserConstraintType=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Qx(c,a)};R.prototype.setUserConstraintId=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Rx(c,a)};R.prototype.getUserConstraintId=function(){return Sx(this.kB)};
+R.prototype.updateAction=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Tx(d,a,c)};R.prototype.__destroy__=function(){Ux(this.kB)};function Q(){this.kB=Vx();h(Q)[this.kB]=this}Q.prototype=Object.create(y.prototype);Q.prototype.constructor=Q;Q.prototype.lB=Q;Q.mB={};b.btPairCachingGhostObject=Q;Q.prototype.setAnisotropicFriction=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Wx(d,a,c)};
+Q.prototype.getCollisionShape=function(){return k(Xx(this.kB),l)};Q.prototype.setContactProcessingThreshold=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Yx(c,a)};Q.prototype.setActivationState=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Zx(c,a)};Q.prototype.forceActivationState=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);$x(c,a)};Q.prototype.activate=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);void 0===a?ay(c):by(c,a)};
+Q.prototype.isActive=function(){return!!cy(this.kB)};Q.prototype.isKinematicObject=function(){return!!dy(this.kB)};Q.prototype.isStaticObject=function(){return!!ey(this.kB)};Q.prototype.isStaticOrKinematicObject=function(){return!!fy(this.kB)};Q.prototype.getRestitution=function(){return gy(this.kB)};Q.prototype.getFriction=function(){return hy(this.kB)};Q.prototype.getRollingFriction=function(){return iy(this.kB)};
+Q.prototype.setRestitution=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);jy(c,a)};Q.prototype.setFriction=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ky(c,a)};Q.prototype.setRollingFriction=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ly(c,a)};Q.prototype.getWorldTransform=function(){return k(my(this.kB),r)};Q.prototype.getCollisionFlags=function(){return ny(this.kB)};
+Q.prototype.setCollisionFlags=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);oy(c,a)};Q.prototype.setWorldTransform=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);py(c,a)};Q.prototype.setCollisionShape=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);qy(c,a)};Q.prototype.setCcdMotionThreshold=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);ry(c,a)};Q.prototype.setCcdSweptSphereRadius=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);sy(c,a)};
+Q.prototype.getUserIndex=function(){return ty(this.kB)};Q.prototype.setUserIndex=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);uy(c,a)};Q.prototype.getUserPointer=function(){return k(vy(this.kB),XD)};Q.prototype.setUserPointer=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);wy(c,a)};Q.prototype.getBroadphaseHandle=function(){return k(xy(this.kB),YD)};Q.prototype.getNumOverlappingObjects=function(){return yy(this.kB)};
+Q.prototype.getOverlappingObject=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(zy(c,a),q)};Q.prototype.__destroy__=function(){Ay(this.kB)};function AF(){this.kB=By();h(AF)[this.kB]=this}AF.prototype=Object.create(f.prototype);AF.prototype.constructor=AF;AF.prototype.lB=AF;AF.mB={};b.btGhostPairCallback=AF;AF.prototype.__destroy__=function(){Cy(this.kB)};function S(){this.kB=Dy();h(S)[this.kB]=this}S.prototype=Object.create(f.prototype);S.prototype.constructor=S;
+S.prototype.lB=S;S.mB={};b.btSoftBodyWorldInfo=S;S.prototype.get_air_density=S.prototype.cC=function(){return Ey(this.kB)};S.prototype.set_air_density=S.prototype.UE=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Fy(c,a)};Object.defineProperty(S.prototype,"air_density",{get:S.prototype.cC,set:S.prototype.UE});S.prototype.get_water_density=S.prototype.RE=function(){return Gy(this.kB)};
+S.prototype.set_water_density=S.prototype.JH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Hy(c,a)};Object.defineProperty(S.prototype,"water_density",{get:S.prototype.RE,set:S.prototype.JH});S.prototype.get_water_offset=S.prototype.TE=function(){return Iy(this.kB)};S.prototype.set_water_offset=S.prototype.LH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Jy(c,a)};Object.defineProperty(S.prototype,"water_offset",{get:S.prototype.TE,set:S.prototype.LH});
+S.prototype.get_m_maxDisplacement=S.prototype.ND=function(){return Ky(this.kB)};S.prototype.set_m_maxDisplacement=S.prototype.EG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ly(c,a)};Object.defineProperty(S.prototype,"m_maxDisplacement",{get:S.prototype.ND,set:S.prototype.EG});S.prototype.get_water_normal=S.prototype.SE=function(){return k(My(this.kB),m)};S.prototype.set_water_normal=S.prototype.KH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ny(c,a)};
+Object.defineProperty(S.prototype,"water_normal",{get:S.prototype.SE,set:S.prototype.KH});S.prototype.get_m_broadphase=S.prototype.MC=function(){return k(Oy(this.kB),VD)};S.prototype.set_m_broadphase=S.prototype.DF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Py(c,a)};Object.defineProperty(S.prototype,"m_broadphase",{get:S.prototype.MC,set:S.prototype.DF});S.prototype.get_m_dispatcher=S.prototype.dD=function(){return k(Qy(this.kB),TD)};
+S.prototype.set_m_dispatcher=S.prototype.VF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ry(c,a)};Object.defineProperty(S.prototype,"m_dispatcher",{get:S.prototype.dD,set:S.prototype.VF});S.prototype.get_m_gravity=S.prototype.mD=function(){return k(Sy(this.kB),m)};S.prototype.set_m_gravity=S.prototype.dG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Ty(c,a)};Object.defineProperty(S.prototype,"m_gravity",{get:S.prototype.mD,set:S.prototype.dG});S.prototype.__destroy__=function(){Uy(this.kB)};
+function U(){throw"cannot construct a Face, no constructor in IDL";}U.prototype=Object.create(f.prototype);U.prototype.constructor=U;U.prototype.lB=U;U.mB={};b.Face=U;U.prototype.get_m_n=U.prototype.MB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(Vy(c,a),Node)};U.prototype.set_m_n=U.prototype.WB=function(a,c){var d=this.kB;ND();a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);Wy(d,a,c)};Object.defineProperty(U.prototype,"m_n",{get:U.prototype.MB,set:U.prototype.WB});
+U.prototype.get_m_normal=U.prototype.RD=function(){return k(Xy(this.kB),m)};U.prototype.set_m_normal=U.prototype.IG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Yy(c,a)};Object.defineProperty(U.prototype,"m_normal",{get:U.prototype.RD,set:U.prototype.IG});U.prototype.get_m_ra=U.prototype.$D=function(){return Zy(this.kB)};U.prototype.set_m_ra=U.prototype.SG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);$y(c,a)};
+Object.defineProperty(U.prototype,"m_ra",{get:U.prototype.$D,set:U.prototype.SG});U.prototype.__destroy__=function(){az(this.kB)};function BF(){throw"cannot construct a tFaceArray, no constructor in IDL";}BF.prototype=Object.create(f.prototype);BF.prototype.constructor=BF;BF.prototype.lB=BF;BF.mB={};b.tFaceArray=BF;BF.prototype.size=BF.prototype.size=function(){return bz(this.kB)};BF.prototype.at=BF.prototype.at=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(cz(c,a),U)};
+BF.prototype.__destroy__=function(){dz(this.kB)};function Node(){throw"cannot construct a Node, no constructor in IDL";}Node.prototype=Object.create(f.prototype);Node.prototype.constructor=Node;Node.prototype.lB=Node;Node.mB={};b.Node=Node;Node.prototype.get_m_x=Node.prototype.IE=function(){return k(ez(this.kB),m)};Node.prototype.set_m_x=Node.prototype.AH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);fz(c,a)};Object.defineProperty(Node.prototype,"m_x",{get:Node.prototype.IE,set:Node.prototype.AH});
+Node.prototype.get_m_q=Node.prototype.ZD=function(){return k(gz(this.kB),m)};Node.prototype.set_m_q=Node.prototype.QG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);hz(c,a)};Object.defineProperty(Node.prototype,"m_q",{get:Node.prototype.ZD,set:Node.prototype.QG});Node.prototype.get_m_v=Node.prototype.AE=function(){return k(iz(this.kB),m)};Node.prototype.set_m_v=Node.prototype.sH=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);jz(c,a)};
+Object.defineProperty(Node.prototype,"m_v",{get:Node.prototype.AE,set:Node.prototype.sH});Node.prototype.get_m_f=Node.prototype.jD=function(){return k(kz(this.kB),m)};Node.prototype.set_m_f=Node.prototype.aG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);lz(c,a)};Object.defineProperty(Node.prototype,"m_f",{get:Node.prototype.jD,set:Node.prototype.aG});Node.prototype.get_m_n=Node.prototype.MB=function(){return k(mz(this.kB),m)};
+Node.prototype.set_m_n=Node.prototype.WB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);nz(c,a)};Object.defineProperty(Node.prototype,"m_n",{get:Node.prototype.MB,set:Node.prototype.WB});Node.prototype.get_m_im=Node.prototype.vD=function(){return oz(this.kB)};Node.prototype.set_m_im=Node.prototype.mG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);pz(c,a)};Object.defineProperty(Node.prototype,"m_im",{get:Node.prototype.vD,set:Node.prototype.mG});
+Node.prototype.get_m_area=Node.prototype.JC=function(){return qz(this.kB)};Node.prototype.set_m_area=Node.prototype.AF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);rz(c,a)};Object.defineProperty(Node.prototype,"m_area",{get:Node.prototype.JC,set:Node.prototype.AF});Node.prototype.__destroy__=function(){sz(this.kB)};function CF(){throw"cannot construct a tNodeArray, no constructor in IDL";}CF.prototype=Object.create(f.prototype);CF.prototype.constructor=CF;CF.prototype.lB=CF;CF.mB={};
+b.tNodeArray=CF;CF.prototype.size=CF.prototype.size=function(){return tz(this.kB)};CF.prototype.at=CF.prototype.at=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(uz(c,a),Node)};CF.prototype.__destroy__=function(){vz(this.kB)};function V(){throw"cannot construct a Material, no constructor in IDL";}V.prototype=Object.create(f.prototype);V.prototype.constructor=V;V.prototype.lB=V;V.mB={};b.Material=V;V.prototype.get_m_kLST=V.prototype.BD=function(){return wz(this.kB)};
+V.prototype.set_m_kLST=V.prototype.sG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);xz(c,a)};Object.defineProperty(V.prototype,"m_kLST",{get:V.prototype.BD,set:V.prototype.sG});V.prototype.get_m_kAST=V.prototype.AD=function(){return yz(this.kB)};V.prototype.set_m_kAST=V.prototype.rG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);zz(c,a)};Object.defineProperty(V.prototype,"m_kAST",{get:V.prototype.AD,set:V.prototype.rG});V.prototype.get_m_kVST=V.prototype.CD=function(){return Az(this.kB)};
+V.prototype.set_m_kVST=V.prototype.tG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Bz(c,a)};Object.defineProperty(V.prototype,"m_kVST",{get:V.prototype.CD,set:V.prototype.tG});V.prototype.get_m_flags=V.prototype.tB=function(){return Cz(this.kB)};V.prototype.set_m_flags=V.prototype.uB=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Dz(c,a)};Object.defineProperty(V.prototype,"m_flags",{get:V.prototype.tB,set:V.prototype.uB});V.prototype.__destroy__=function(){Ez(this.kB)};
+function DF(){throw"cannot construct a tMaterialArray, no constructor in IDL";}DF.prototype=Object.create(f.prototype);DF.prototype.constructor=DF;DF.prototype.lB=DF;DF.mB={};b.tMaterialArray=DF;DF.prototype.size=DF.prototype.size=function(){return Fz(this.kB)};DF.prototype.at=DF.prototype.at=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);return k(Gz(c,a),V)};DF.prototype.__destroy__=function(){Hz(this.kB)};function W(){throw"cannot construct a Anchor, no constructor in IDL";}
+W.prototype=Object.create(f.prototype);W.prototype.constructor=W;W.prototype.lB=W;W.mB={};b.Anchor=W;W.prototype.get_m_node=W.prototype.PD=function(){return k(Iz(this.kB),Node)};W.prototype.set_m_node=W.prototype.GG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Jz(c,a)};Object.defineProperty(W.prototype,"m_node",{get:W.prototype.PD,set:W.prototype.GG});W.prototype.get_m_local=W.prototype.FD=function(){return k(Kz(this.kB),m)};
+W.prototype.set_m_local=W.prototype.wG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Lz(c,a)};Object.defineProperty(W.prototype,"m_local",{get:W.prototype.FD,set:W.prototype.wG});W.prototype.get_m_body=W.prototype.KC=function(){return k(Mz(this.kB),K)};W.prototype.set_m_body=W.prototype.BF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Nz(c,a)};Object.defineProperty(W.prototype,"m_body",{get:W.prototype.KC,set:W.prototype.BF});W.prototype.get_m_influence=W.prototype.yD=function(){return Oz(this.kB)};
+W.prototype.set_m_influence=W.prototype.pG=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Pz(c,a)};Object.defineProperty(W.prototype,"m_influence",{get:W.prototype.yD,set:W.prototype.pG});W.prototype.get_m_c0=W.prototype.NC=function(){return k(Qz(this.kB),uE)};W.prototype.set_m_c0=W.prototype.EF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Rz(c,a)};Object.defineProperty(W.prototype,"m_c0",{get:W.prototype.NC,set:W.prototype.EF});
+W.prototype.get_m_c1=W.prototype.OC=function(){return k(Sz(this.kB),m)};W.prototype.set_m_c1=W.prototype.FF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Tz(c,a)};Object.defineProperty(W.prototype,"m_c1",{get:W.prototype.OC,set:W.prototype.FF});W.prototype.get_m_c2=W.prototype.PC=function(){return Uz(this.kB)};W.prototype.set_m_c2=W.prototype.GF=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);Vz(c,a)};Object.defineProperty(W.prototype,"m_c2",{get:W.prototype.PC,set:W.prototype.GF});
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+Z.prototype.debugDrawObject=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);PC(e,a,c,d)};Z.prototype.setGravity=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);QC(c,a)};Z.prototype.getGravity=function(){return k(RC(this.kB),m)};
+Z.prototype.addRigidBody=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);void 0===c?SC(e,a):void 0===d?_emscripten_bind_btSoftRigidDynamicsWorld_addRigidBody_2(e,a,c):TC(e,a,c,d)};Z.prototype.removeRigidBody=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);UC(c,a)};
+Z.prototype.addConstraint=function(a,c){var d=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);void 0===c?VC(d,a):WC(d,a,c)};Z.prototype.removeConstraint=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);XC(c,a)};Z.prototype.stepSimulation=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);return void 0===c?YC(e,a):void 0===d?ZC(e,a,c):$C(e,a,c,d)};
+Z.prototype.setContactAddedCallback=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);aD(c,a)};Z.prototype.setContactProcessedCallback=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);bD(c,a)};Z.prototype.setContactDestroyedCallback=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);cD(c,a)};Z.prototype.addAction=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);dD(c,a)};Z.prototype.removeAction=function(a){var c=this.kB;a&&"object"===typeof a&&(a=a.kB);eD(c,a)};
+Z.prototype.getSolverInfo=function(){return k(fD(this.kB),t)};Z.prototype.setInternalTickCallback=function(a,c,d){var e=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);void 0===c?gD(e,a):void 0===d?hD(e,a,c):iD(e,a,c,d)};Z.prototype.__destroy__=function(){jD(this.kB)};function IF(){this.kB=kD();h(IF)[this.kB]=this}IF.prototype=Object.create(f.prototype);IF.prototype.constructor=IF;IF.prototype.lB=IF;IF.mB={};b.btSoftBodyHelpers=IF;
+IF.prototype.CreateRope=function(a,c,d,e,g){var n=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);g&&"object"===typeof g&&(g=g.kB);return k(lD(n,a,c,d,e,g),Y)};
+IF.prototype.CreatePatch=function(a,c,d,e,g,n,z,T,Da){var dc=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);g&&"object"===typeof g&&(g=g.kB);n&&"object"===typeof n&&(n=n.kB);z&&"object"===typeof z&&(z=z.kB);T&&"object"===typeof T&&(T=T.kB);Da&&"object"===typeof Da&&(Da=Da.kB);return k(mD(dc,a,c,d,e,g,n,z,T,Da),Y)};
+IF.prototype.CreatePatchUV=function(a,c,d,e,g,n,z,T,Da,dc){var JF=this.kB;ND();a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);g&&"object"===typeof g&&(g=g.kB);n&&"object"===typeof n&&(n=n.kB);z&&"object"===typeof z&&(z=z.kB);T&&"object"===typeof T&&(T=T.kB);Da&&"object"===typeof Da&&(Da=Da.kB);"object"==typeof dc&&(dc=RD(dc));return k(nD(JF,a,c,d,e,g,n,z,T,Da,dc),Y)};
+IF.prototype.CreateEllipsoid=function(a,c,d,e){var g=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);return k(oD(g,a,c,d,e),Y)};
+IF.prototype.CreateFromTriMesh=function(a,c,d,e,g){var n=this.kB;ND();a&&"object"===typeof a&&(a=a.kB);"object"==typeof c&&(c=RD(c));if("object"==typeof d&&"object"===typeof d){var z=OD(d,va);PD(d,va,z);d=z}e&&"object"===typeof e&&(e=e.kB);g&&"object"===typeof g&&(g=g.kB);return k(pD(n,a,c,d,e,g),Y)};
+IF.prototype.CreateFromConvexHull=function(a,c,d,e){var g=this.kB;a&&"object"===typeof a&&(a=a.kB);c&&"object"===typeof c&&(c=c.kB);d&&"object"===typeof d&&(d=d.kB);e&&"object"===typeof e&&(e=e.kB);return k(qD(g,a,c,d,e),Y)};IF.prototype.__destroy__=function(){rD(this.kB)};
+(function(){function a(){b.PHY_FLOAT=sD();b.PHY_DOUBLE=tD();b.PHY_INTEGER=uD();b.PHY_SHORT=vD();b.PHY_FIXEDPOINT88=wD();b.PHY_UCHAR=xD();b.CONST_GIMPACT_COMPOUND_SHAPE=yD();b.CONST_GIMPACT_TRIMESH_SHAPE_PART=zD();b.CONST_GIMPACT_TRIMESH_SHAPE=AD();b.BT_CONSTRAINT_ERP=BD();b.BT_CONSTRAINT_STOP_ERP=CD();b.BT_CONSTRAINT_CFM=DD();b.BT_CONSTRAINT_STOP_CFM=ED()}Ca?a():Aa.unshift(a)})();b.CONTACT_ADDED_CALLBACK_SIGNATURE="iiiiiiii";b.CONTACT_DESTROYED_CALLBACK_SIGNATURE="ii";
+b.CONTACT_PROCESSED_CALLBACK_SIGNATURE="iiii";b.INTERNAL_TICK_CALLBACK_SIGNATURE="vif";this.Ammo=b;
+
+
+  return Ammo.ready
+}
+
+);
+})();
+if (typeof exports === 'object' && typeof module === 'object')
+  module.exports = Ammo;
+else if (typeof define === 'function' && define['amd'])
+  define([], function() { return Ammo; });
+else if (typeof exports === 'object')
+  exports["Ammo"] = Ammo;

apps/control-station/rerun-runtime.html

@@ -0,0 +1,16 @@
+<!doctype html>
+<html lang="ru">
+  <head>
+    <meta charset="UTF-8" />
+    <meta name="viewport" content="width=device-width, initial-scale=1.0" />
+    <title>Синхронизированная запись</title>
+    <style>
+      html, body, #viewer { width: 100%; height: 100%; margin: 0; overflow: hidden; }
+      canvas { display: block; }
+    </style>
+  </head>
+  <body>
+    <div id="viewer"></div>
+    <script type="module" src="/src/components/rerun/isolatedRerunEntry.ts"></script>
+  </body>
+</html>

apps/control-station/src/App.tsx

@@ -10,7 +10,6 @@ import {
   ControlRow,
   HeaderNavigation,
   HeaderProfile,
-  HeaderWorkspace,
   Icon,
   Inspector,
   RangeControl,
@@ -629,7 +628,10 @@ export default function App() {
     return () => window.clearTimeout(timer);
   }, [layoutSaveNotice]);
 
+  const [fleetCreateRequest, setFleetCreateRequest] = useState(0);
+  const onAddVehicle = useCallback(() => setFleetCreateRequest(value => value + 1), []);
   const contentActions = useApplicationPanelActions({
+    onAddVehicle,
     definition: activeDefinition,
     refreshRuntime: runtime.refresh,
     resetConnectionScenario: runtime.resetConnectionScenario,
@@ -645,8 +647,6 @@ export default function App() {
       brandHref="/"
       brandLabel="NODEDC MISSION CORE"
       center={
-        <>
-          <HeaderWorkspace kind="mark" label="Mission Core" imageUrl="/nodedc-mark.svg" />
           <HeaderNavigation
             label="Архитектурные блоки пункта управления"
             value={activeRoot ?? undefined}
@@ -656,7 +656,6 @@ export default function App() {
             }))}
             onChange={selectRoot}
           />
-        </>
       }
       right={
         <HeaderProfile>
@@ -802,10 +801,12 @@ export default function App() {
                     settleRecordedReplaySwitch(outcome)}
                   onDeleteBegin={releaseRecordedReplayForDelete}
                 />
-              ) : activeDefinition.kind === "datasets" ? (
+              ) : activeDefinition.kind === "vehicles" ? null : activeDefinition.kind === "datasets" ? (
                 <StatusBadge tone="neutral">Offline evaluation</StatusBadge>
               ) : activeDefinition.kind === "lab-archive" ? (
                 laboratoryAnnotation.control
+              ) : activeDefinition.kind === "observatory" ? (
+                <StatusBadge tone="neutral">Только наблюдение</StatusBadge>
               ) : activeDefinition.root === "system" ? (
                 <SystemWorkspaceSelector
                   value={activeDefinition.id}
@@ -826,6 +827,7 @@ export default function App() {
             ) : (
               <WorkspaceRenderer
                 definition={activeDefinition}
+                fleetCreateRequest={fleetCreateRequest}
                 state={activeRuntimeState}
                 backendStatus={runtime.backendStatus}
                 sourceUrl={effectiveSourceUrl}

apps/control-station/src/components/RecordedFmp4Player.tsx

@@ -29,7 +29,9 @@ export type RecordedMediaPresentationState = "loading" | "ready" | "waiting" | "
 
 export const RECORDED_MEDIA_DURATION_TOLERANCE_SECONDS = 1;
 const RECORDED_MEDIA_SOURCE_OPEN_TIMEOUT_MS = 10_000;
-const RECORDED_MEDIA_TARGET_TIMEOUT_MS = 10_000;
+// A valid local fragment becomes decoder-ready well below one second. Keeping
+// a damaged GOP on screen for ten seconds only delays the keyframe recovery.
+const RECORDED_MEDIA_TARGET_TIMEOUT_MS = 2_500;
 const RECORDED_MEDIA_FRAGMENT_TIMEOUT_MS = 15_000;
 const RECORDED_MEDIA_REQUIRED_AHEAD_SEGMENTS = 12;
 const RECORDED_MEDIA_SEGMENTS_AHEAD = 36;
@@ -72,6 +74,39 @@ export function recordedMediaDecodeStartSequence(
   return selected;
 }
 
+export function nextRecordedMediaRandomAccessSequence(
+  randomAccessSequences: readonly number[],
+  failedSequence: number,
+): number | null {
+  if (!Number.isInteger(failedSequence) || failedSequence < 1) return null;
+  for (const sequence of randomAccessSequences) {
+    if (!Number.isInteger(sequence) || sequence < 1) return null;
+    if (sequence > failedSequence) return sequence;
+  }
+  return null;
+}
+
+export function recordedMediaRecoveryTargetSequence(
+  requestedSequence: number | null,
+  failedSequence: number | null,
+  recoverySequence: number | null,
+): number | null {
+  if (requestedSequence === null) return null;
+  if (
+    !Number.isInteger(requestedSequence)
+    || requestedSequence < 1
+    || failedSequence === null
+    || recoverySequence === null
+    || !Number.isInteger(failedSequence)
+    || !Number.isInteger(recoverySequence)
+    || failedSequence < 1
+    || recoverySequence <= failedSequence
+  ) return requestedSequence;
+  return requestedSequence >= failedSequence && requestedSequence < recoverySequence
+    ? recoverySequence
+    : requestedSequence;
+}
+
 export function recordedMediaSegmentAppendOrder(
   appended: ReadonlySet<number>,
   decodeStartSequence: number,
@@ -90,6 +125,32 @@ export function recordedMediaSegmentAppendOrder(
   return missing;
 }
 
+/** Resolve a source-clock timestamp to the first fMP4 fragment covering it. */
+export function recordedMediaSegmentSequenceAtTime(
+  segmentEndTimesSeconds: readonly number[],
+  epochStartSeconds: number,
+  currentSeconds: number,
+): number | null {
+  if (
+    !segmentEndTimesSeconds.length ||
+    !Number.isFinite(epochStartSeconds) ||
+    !Number.isFinite(currentSeconds)
+  ) return null;
+  const localSeconds = Math.max(0, currentSeconds - epochStartSeconds);
+  let left = 0;
+  let right = segmentEndTimesSeconds.length - 1;
+  while (left < right) {
+    const middle = Math.floor((left + right) / 2);
+    const endSeconds = segmentEndTimesSeconds[middle];
+    if (!Number.isFinite(endSeconds) || endSeconds <= 0) return null;
+    if (endSeconds + 0.001 >= localSeconds) right = middle;
+    else left = middle + 1;
+  }
+  const finalEndSeconds = segmentEndTimesSeconds[left];
+  if (!Number.isFinite(finalEndSeconds) || finalEndSeconds + 0.001 < localSeconds) return null;
+  return left + 1;
+}
+
 export function recordedMediaCanRollTarget(
   previousSequence: number,
   nextSequence: number,
@@ -121,6 +182,27 @@ function recordedMediaTimeRangesContain(
   return false;
 }
 
+export function recordedMediaTimestampStallRecoveryTarget(
+  currentSeconds: number,
+  bufferedRanges: readonly (readonly [number, number])[],
+  skipSeconds = 0.18,
+): number | null {
+  if (!Number.isFinite(currentSeconds) || !Number.isFinite(skipSeconds) || skipSeconds <= 0) {
+    return null;
+  }
+  for (const [startSeconds, endSeconds] of bufferedRanges) {
+    if (
+      !Number.isFinite(startSeconds)
+      || !Number.isFinite(endSeconds)
+      || currentSeconds < startSeconds - 0.05
+      || currentSeconds > endSeconds
+    ) continue;
+    const targetSeconds = Math.min(currentSeconds + skipSeconds, endSeconds - 0.05);
+    return targetSeconds >= currentSeconds + 0.04 ? targetSeconds : null;
+  }
+  return null;
+}
+
 export function recordedMediaPresentationState(
   state: "loading" | "ready" | "error",
   readyGeneration: string | null,
@@ -151,6 +233,24 @@ export function selectRecordedMediaEpoch(
   return selected && currentSeconds <= selected.timelineEndSeconds ? selected : null;
 }
 
+/**
+ * Keep admission bounded even when the shared Rerun clock is currently before,
+ * between, or after camera epochs. Presentation still reports `waiting`; this
+ * selector only chooses the nearest epoch whose first/last fragment can prove
+ * that the camera transport is usable without downloading the whole MP4.
+ */
+export function selectRecordedMediaPreparationEpoch(
+  epochs: readonly ObservationRecordedMediaEpoch[],
+  currentSeconds: number,
+): ObservationRecordedMediaEpoch | null {
+  if (!epochs.length || !Number.isFinite(currentSeconds)) return null;
+  const active = selectRecordedMediaEpoch(epochs, currentSeconds);
+  if (active) return active;
+  return epochs.find((epoch) => epoch.timelineStartSeconds > currentSeconds)
+    ?? epochs.at(-1)
+    ?? null;
+}
+
 export function recordedMediaSeekableCoverage(
   durationSeconds: number,
   seekableEndSeconds: number,
@@ -231,29 +331,14 @@ export async function fetchRecordedMediaArchive(
   return { manifest, byteLength: totalBytes };
 }
 
-function videoHasSeekableArchive(
+function waitForRecordedVideoInitialFrame(
   video: HTMLVideoElement,
-  declaredDurationSeconds: number,
-): boolean {
-  if (video.readyState < 1 || video.seekable.length < 1) return false;
-  return recordedMediaSeekableCoverage(
-    video.duration,
-    video.seekable.end(video.seekable.length - 1),
-    declaredDurationSeconds,
-    RECORDED_MEDIA_DURATION_TOLERANCE_SECONDS,
-    video.seekable.start(0),
-  );
-}
-
-function waitForSeekableArchive(
-  video: HTMLVideoElement,
-  declaredDurationSeconds: number,
   signal: AbortSignal,
 ): Promise<void> {
   if (signal.aborted) return Promise.reject(new DOMException("Aborted", "AbortError"));
-  if (videoHasSeekableArchive(video, declaredDurationSeconds)) return Promise.resolve();
+  if (video.readyState >= HTMLMediaElement.HAVE_CURRENT_DATA) return Promise.resolve();
   return new Promise((resolve, reject) => {
-    const events = ["loadedmetadata", "durationchange", "progress", "canplay"] as const;
+    const events = ["loadeddata", "canplay", "progress"] as const;
     let stallTimer: ReturnType<typeof globalThis.setTimeout> | undefined;
     const armStallTimer = () => {
       if (stallTimer !== undefined) globalThis.clearTimeout(stallTimer);
@@ -270,7 +355,7 @@ function waitForSeekableArchive(
     };
     const onProgress = () => {
       armStallTimer();
-      if (!videoHasSeekableArchive(video, declaredDurationSeconds)) return;
+      if (video.readyState < HTMLMediaElement.HAVE_CURRENT_DATA) return;
       cleanup();
       resolve();
     };
@@ -313,11 +398,7 @@ async function mountRecordedEpochStream(
   };
   video.load();
   try {
-    await waitForSeekableArchive(
-      video,
-      descriptor.timelineEndSeconds - descriptor.timelineStartSeconds,
-      signal,
-    );
+    await waitForRecordedVideoInitialFrame(video, signal);
     return cleanup;
   } catch (error) {
     cleanup();
@@ -336,6 +417,11 @@ interface RecordedSegmentTarget {
   resetAttempts: number;
 }
 
+interface RecordedSegmentRecovery {
+  readonly failedSequence: number;
+  readonly recoverySequence: number;
+}
+
 interface RecordedSegmentStreamRuntime {
   readonly generation: string;
   readonly mediaSource: MediaSource;
@@ -716,6 +802,9 @@ export function RecordedFmp4Player({
   onAdmissionChange,
   onPlaybackChange,
   onPlayingRejected,
+  playbackAuthority = "media",
+  playbackTransport = "segmented",
+  recoverTimestampStalls = false,
 }: {
   source: ObservationSourceDescriptor;
   playback?: RecordedObservationPlayback | null;
@@ -728,6 +817,9 @@ export function RecordedFmp4Player({
   onAdmissionChange?: (state: RecordedCameraAdmissionState) => void;
   onPlaybackChange?: (playback: RecordedObservationPlayback) => void;
   onPlayingRejected?: () => void;
+  playbackAuthority?: "media" | "host";
+  playbackTransport?: "segmented" | "epoch-stream";
+  recoverTimestampStalls?: boolean;
 }) {
   const videoRef = useRef<HTMLVideoElement>(null);
   const onAdmissionChangeRef = useRef(onAdmissionChange);
@@ -768,12 +860,16 @@ export function RecordedFmp4Player({
   );
   const [archive, setArchive] = useState<RecordedMediaArchive | null>(null);
   const [state, setState] = useState<"loading" | "ready" | "error">("loading");
+  const [errorMessage, setErrorMessage] = useState<string | null>(null);
   const [readyGeneration, setReadyGeneration] = useState<string | null>(null);
   const [bufferRevision, setBufferRevision] = useState(0);
+  const [segmentRecoveryGeneration, setSegmentRecoveryGeneration] = useState(0);
+  const [segmentRecovery, setSegmentRecovery] = useState<RecordedSegmentRecovery | null>(null);
   const segmentedRuntimeRef = useRef<RecordedSegmentStreamRuntime | null>(null);
   const [segmentedRuntimeGeneration, setSegmentedRuntimeGeneration] = useState<string | null>(null);
   const targetRevisionRef = useRef(0);
   const targetReadyAbortRef = useRef<AbortController | null>(null);
+  const lastSegmentRecoveryRef = useRef<string | null>(null);
   const playAttemptRevisionRef = useRef(0);
   const currentSeconds = playback?.currentSeconds ?? contract?.timelineStartSeconds ?? 0;
   const playbackPlayingRef = useRef(Boolean(playback?.playing));
@@ -781,25 +877,63 @@ export function RecordedFmp4Player({
   const playbackRate = playback?.rate && Number.isFinite(playback.rate)
     ? Math.min(4, Math.max(0.25, playback.rate))
     : 1;
-  const epoch = useMemo(
+  const playbackRateRef = useRef(playbackRate);
+  playbackRateRef.current = playbackRate;
+  const presentationEpoch = useMemo(
     () => selectRecordedMediaEpoch(archive?.manifest.epochs ?? [], currentSeconds),
     [archive?.manifest.epochs, currentSeconds],
   );
+  const epoch = useMemo(
+    () => selectRecordedMediaPreparationEpoch(
+      archive?.manifest.epochs ?? [],
+      currentSeconds,
+    ),
+    [archive?.manifest.epochs, currentSeconds],
+  );
+  const segmentClockSeconds = epoch
+    ? Math.min(
+        Math.max(currentSeconds, epoch.timelineStartSeconds),
+        epoch.timelineEndSeconds,
+      )
+    : currentSeconds;
+  const effectiveSegmentCount = segmentCount ?? epoch?.segmentCount ?? null;
+  const requestedSegmentSequence = segmentSequence ?? (epoch
+    ? recordedMediaSegmentSequenceAtTime(
+        epoch.segmentEndTimesSeconds,
+        epoch.timelineStartSeconds,
+        segmentClockSeconds,
+      )
+    : null);
+  const effectiveSegmentSequence = recordedMediaRecoveryTargetSequence(
+    requestedSegmentSequence,
+    segmentRecovery?.failedSequence ?? null,
+    segmentRecovery?.recoverySequence ?? null,
+  );
+  const holdingForSegmentRecovery = Boolean(
+    segmentRecovery
+    && requestedSegmentSequence !== null
+    && effectiveSegmentSequence !== requestedSegmentSequence,
+  );
   const segmented = Boolean(
-    segmentCount !== null
-    && Number.isInteger(segmentCount)
-    && segmentCount >= 1
+    playbackTransport === "segmented"
+    && requestedSegmentSequence !== null
+    && Number.isInteger(requestedSegmentSequence)
+    && requestedSegmentSequence >= 1
+    &&
+    effectiveSegmentCount !== null
+    && Number.isInteger(effectiveSegmentCount)
+    && effectiveSegmentCount >= 1
     && typeof MediaSource !== "undefined"
     && epoch
-    && epoch.segmentCount === segmentCount
+    && epoch.segmentCount === effectiveSegmentCount
     && epoch.randomAccessSequences.length > 0
-    && epoch.segmentEndTimesSeconds.length === segmentCount
+    && epoch.segmentEndTimesSeconds.length === effectiveSegmentCount
     && MediaSource.isTypeSupported(epoch.mediaType),
   );
   const directPlaybackSeconds = segmented ? null : currentSeconds;
-  const waitingForEpoch = Boolean(archive && !epoch);
-  const selectedGeneration = contract && epoch
-    ? `${contract.manifestGenerationSha256}:${epoch.ordinal}:${epoch.timelineStartSeconds}:${epoch.timelineEndSeconds}`
+  const waitingForEpoch = Boolean(archive && !presentationEpoch);
+  const selectedGeneration = contract && presentationEpoch
+    ? `${contract.manifestGenerationSha256}:${presentationEpoch.ordinal}:${presentationEpoch.timelineStartSeconds}:${presentationEpoch.timelineEndSeconds}`
     : null;
   const visualState = recordedMediaPresentationState(
     state,
@@ -813,6 +947,7 @@ export function RecordedFmp4Player({
     if (!contract) {
       setArchive(null);
       setReadyGeneration(null);
+      setErrorMessage("Некорректный descriptor записанной камеры.");
       setState("error");
       reportAdmission({
         phase: "error",
@@ -825,6 +960,9 @@ export function RecordedFmp4Player({
     const abort = new AbortController();
     setArchive(null);
     setReadyGeneration(null);
+    setSegmentRecovery(null);
+    lastSegmentRecoveryRef.current = null;
+    setErrorMessage(null);
     setState("loading");
     reportAdmission({
       phase: "loading",
@@ -842,6 +980,7 @@ export function RecordedFmp4Player({
         }
         setArchive(null);
         setReadyGeneration(null);
+        setErrorMessage("Архив записанной камеры не прошёл проверку.");
         setState("error");
         reportAdmission({
           phase: "error",
@@ -853,43 +992,14 @@ export function RecordedFmp4Player({
   }, [admissionKey, contract, prepare]);
 
   useEffect(() => {
-    if (!archive || !contract || !prepare || segmented) return;
-    const abort = new AbortController();
-    let disposed = false;
-    void (async () => {
-      for (const candidate of archive.manifest.epochs) {
-        const probe = document.createElement("video");
-        probe.muted = true;
-        probe.playsInline = true;
-        const cleanup = await mountRecordedEpochStream(probe, candidate, abort.signal);
-        cleanup();
-        if (disposed || abort.signal.aborted) return;
-      }
-      if (disposed || abort.signal.aborted) return;
-      reportAdmission({
-        phase: "ready",
-        byteLength: archive.byteLength,
-        message: null,
-      });
-    })().catch((error: unknown) => {
-      if (
-        disposed ||
-        abort.signal.aborted ||
-        (error instanceof DOMException && error.name === "AbortError")
-      ) return;
-      setReadyGeneration(null);
-      setState("error");
-      reportAdmission({
-        phase: "error",
-        byteLength: archive.byteLength,
-        message: "Не все codec epoch записанной камеры декодируются и доступны для seek.",
-      });
-    });
-    return () => {
-      disposed = true;
-      abort.abort();
-    };
-  }, [admissionKey, archive, contract, prepare, segmented]);
+    if (!segmentRecovery || requestedSegmentSequence === null) return;
+    if (
+      requestedSegmentSequence >= segmentRecovery.failedSequence
+      && requestedSegmentSequence < segmentRecovery.recoverySequence
+    ) return;
+    lastSegmentRecoveryRef.current = null;
+    setSegmentRecovery(null);
+  }, [requestedSegmentSequence, segmentRecovery]);
 
   useEffect(() => {
     const video = videoRef.current;
@@ -910,6 +1020,7 @@ export function RecordedFmp4Player({
 
     setReadyGeneration(null);
     setSegmentedRuntimeGeneration(null);
+    setErrorMessage(null);
     setState("loading");
     video.pause();
     const sourceOpened = waitForMediaSourceOpen(mediaSource, abort.signal);
@@ -957,6 +1068,7 @@ export function RecordedFmp4Player({
         return;
       }
       setReadyGeneration(null);
+      setErrorMessage("Покадровый буфер записанной камеры не открылся.");
       setState("error");
       reportAdmission({
         phase: "error",
@@ -982,7 +1094,14 @@ export function RecordedFmp4Player({
       }
       URL.revokeObjectURL(objectUrl);
     };
-  }, [archive, contract, epoch, segmentCount, segmented]);
+  }, [
+    archive,
+    contract,
+    effectiveSegmentCount,
+    epoch,
+    segmented,
+    segmentRecoveryGeneration,
+  ]);
 
   useEffect(() => {
     const runtime = segmentedRuntimeRef.current;
@@ -993,18 +1112,19 @@ export function RecordedFmp4Player({
       || !archive
       || !segmented
       || segmentedRuntimeGeneration !== runtime.generation
-      || segmentSequence === null
-      || !Number.isInteger(segmentSequence)
-      || segmentSequence < 1
-      || segmentSequence > runtime.segmentCount
+      || effectiveSegmentSequence === null
+      || !Number.isInteger(effectiveSegmentSequence)
+      || effectiveSegmentSequence < 1
+      || effectiveSegmentSequence > runtime.segmentCount
     ) return;
     const archiveByteLength = archive.byteLength;
     const decodeStart = recordedMediaDecodeStartSequence(
       runtime.randomAccessSequences,
-      segmentSequence,
+      effectiveSegmentSequence,
     );
     if (decodeStart === null) {
       setReadyGeneration(null);
+      setErrorMessage("Для кадра записанной камеры нет random-access фрагмента.");
       setState("error");
       reportAdmission({
         phase: "error",
@@ -1015,10 +1135,11 @@ export function RecordedFmp4Player({
     }
     const targetSeconds = recordedSegmentStartSeconds(
       runtime.segmentEndTimesSeconds,
-      segmentSequence,
+      effectiveSegmentSequence,
     );
     if (targetSeconds === null) {
       setReadyGeneration(null);
+      setErrorMessage("Для кадра записанной камеры нет точной media timestamp.");
       setState("error");
       reportAdmission({
         phase: "error",
@@ -1030,15 +1151,15 @@ export function RecordedFmp4Player({
     const previousTarget = runtime.target;
     const readyEnd = Math.min(
       runtime.segmentCount,
-      segmentSequence + RECORDED_MEDIA_REQUIRED_AHEAD_SEGMENTS,
+      effectiveSegmentSequence + RECORDED_MEDIA_REQUIRED_AHEAD_SEGMENTS,
     );
     const desiredEnd = Math.min(
       runtime.segmentCount,
-      segmentSequence + RECORDED_MEDIA_SEGMENTS_AHEAD,
+      effectiveSegmentSequence + RECORDED_MEDIA_SEGMENTS_AHEAD,
     );
     const candidateTarget: RecordedSegmentTarget = {
       revision: previousTarget?.revision ?? 0,
-      sequence: segmentSequence,
+      sequence: effectiveSegmentSequence,
       decodeStart,
       readyEnd,
       desiredEnd,
@@ -1046,6 +1167,24 @@ export function RecordedFmp4Player({
       forceReset: false,
       resetAttempts: 0,
     };
+    const recoverFromSegmentFailure = (failedSequence: number): boolean => {
+      const recoverySequence = nextRecordedMediaRandomAccessSequence(
+        runtime.randomAccessSequences,
+        failedSequence,
+      );
+      if (recoverySequence === null) return false;
+      const recoveryToken = `${runtime.generation}:${failedSequence}:${recoverySequence}`;
+      if (lastSegmentRecoveryRef.current === recoveryToken) return true;
+      lastSegmentRecoveryRef.current = recoveryToken;
+      setReadyGeneration(null);
+      setSegmentRecovery({ failedSequence, recoverySequence });
+      setErrorMessage(
+        `Восстанавливаем камеру с ключевого кадра ${recoverySequence}.`,
+      );
+      setState("loading");
+      setSegmentRecoveryGeneration((generation) => generation + 1);
+      return true;
+    };
     const rollingTarget = Boolean(previousTarget && recordedMediaCanRollTarget(
       previousTarget.sequence,
       candidateTarget.sequence,
@@ -1059,21 +1198,62 @@ export function RecordedFmp4Player({
         || runtime.abort.signal.aborted
         || (error instanceof DOMException && error.name === "AbortError")
       ) return;
+      const failedSequence = runtime.target?.sequence ?? effectiveSegmentSequence;
+      if (failedSequence !== null && recoverFromSegmentFailure(failedSequence)) return;
+      const detail = error instanceof Error && error.message
+        ? `: ${error.message}`
+        : ".";
+      const message = `Покадровый фрагмент записанной камеры недоступен${detail}`;
       setReadyGeneration(null);
+      setErrorMessage(message);
       setState("error");
       reportAdmission({
         phase: "error",
         byteLength: archiveByteLength,
-        message: "Покадровый фрагмент записанной камеры недоступен.",
+        message,
       });
     };
+    const resumePlaybackIfRequested = async (revision: number) => {
+      if (
+        runtime.disposed
+        || segmentedRuntimeRef.current !== runtime
+        || runtime.target?.revision !== revision
+        || !playbackPlayingRef.current
+      ) return;
+      video.playbackRate = playbackRateRef.current;
+      try {
+        await video.play();
+      } catch {
+        if (
+          runtime.disposed
+          || segmentedRuntimeRef.current !== runtime
+          || runtime.target?.revision !== revision
+        ) return;
+        // Canonical recorded LABs run one host-owned clock for camera and
+        // spatial evidence. A transient MSE play() rejection (commonly a
+        // pause/reset race while the next fragment is admitted) must stay a
+        // decoder concern: the rolling target will retry and catch up.
+        if (playbackAuthority === "host") return;
+        onPlayingRejectedRef.current?.();
+        setReadyGeneration(null);
+        setErrorMessage("Запуск записанной камеры отклонён браузером.");
+        setState("error");
+        reportAdmission({
+          phase: "error",
+          byteLength: archiveByteLength,
+          message: "Запуск записанной камеры отклонён браузером.",
+        });
+      }
+    };
     if (rollingTarget && previousTarget) {
       runtime.target = {
         ...candidateTarget,
         revision: previousTarget.revision,
       };
       runtime.onTargetBuffered = null;
-      void pumpRecordedSegmentWindow(runtime).catch(reportPumpError);
+      void pumpRecordedSegmentWindow(runtime)
+        .then(() => resumePlaybackIfRequested(previousTarget.revision))
+        .catch(reportPumpError);
       return;
     }
 
@@ -1128,18 +1308,22 @@ export function RecordedFmp4Player({
           setBufferRevision((revision) => revision + 1);
           runtime.hasPresentedFrame = true;
           setReadyGeneration(runtime.generation);
+          setErrorMessage(null);
           setState("ready");
           reportAdmission({
             phase: "ready",
             byteLength: archiveByteLength,
             message: null,
           });
+          await resumePlaybackIfRequested(bufferedTarget.revision);
         } catch (error) {
           if (
             targetReadyAbort.signal.aborted
             || (error instanceof DOMException && error.name === "AbortError")
           ) return;
+          if (recoverFromSegmentFailure(bufferedTarget.sequence)) return;
           setReadyGeneration(null);
+          setErrorMessage("Кадр записанной камеры не стал decoder-ready.");
           setState("error");
           reportAdmission({
             phase: "error",
@@ -1160,7 +1344,13 @@ export function RecordedFmp4Player({
       if (targetReadyAbortRef.current === targetReadyAbort) targetReadyAbortRef.current = null;
       if (runtime.onTargetBuffered === markBuffered) runtime.onTargetBuffered = null;
     };
-  }, [archive?.byteLength, segmentSequence, segmented, segmentedRuntimeGeneration]);
+  }, [
+    archive?.byteLength,
+    effectiveSegmentSequence,
+    playbackAuthority,
+    segmented,
+    segmentedRuntimeGeneration,
+  ]);
 
   useEffect(() => {
     const video = videoRef.current;
@@ -1170,6 +1360,7 @@ export function RecordedFmp4Player({
       ? `${contract.manifestGenerationSha256}:${epochDescriptor.ordinal}:${epochDescriptor.timelineStartSeconds}:${epochDescriptor.timelineEndSeconds}`
       : null;
     setReadyGeneration(null);
+    setErrorMessage(null);
     setState("loading");
     const abort = new AbortController();
     let disposed = false;
@@ -1185,7 +1376,13 @@ export function RecordedFmp4Player({
         }
         setBufferRevision((revision) => revision + 1);
         setReadyGeneration(generation);
+        setErrorMessage(null);
         setState("ready");
+        reportAdmission({
+          phase: "ready",
+          byteLength: archive?.byteLength ?? null,
+          message: null,
+        });
       } catch (error) {
         if (
           disposed ||
@@ -1195,11 +1392,12 @@ export function RecordedFmp4Player({
           return;
         }
         setReadyGeneration(null);
+        setErrorMessage("Записанная камера не открыла первый декодируемый кадр.");
         setState("error");
         reportAdmission({
           phase: "error",
           byteLength: archive?.byteLength ?? null,
-          message: "Записанная камера не стала seekable.",
+          message: "Записанная камера не открыла первый декодируемый кадр.",
         });
       }
     };
@@ -1234,6 +1432,7 @@ export function RecordedFmp4Player({
         video.currentTime = target;
       } catch {
         setReadyGeneration(null);
+        setErrorMessage("Seek записанной камеры завершился ошибкой.");
         setState("error");
         reportAdmission({
           phase: "error",
@@ -1244,11 +1443,13 @@ export function RecordedFmp4Player({
       }
     }
     video.playbackRate = playbackRate;
-    if (playback?.playing) {
+    if (playback?.playing && !holdingForSegmentRecovery) {
       void video.play().catch(() => {
         if (playAttemptRevisionRef.current !== playAttemptRevision) return;
+        if (playbackAuthority === "host") return;
         onPlayingRejectedRef.current?.();
         setReadyGeneration(null);
+        setErrorMessage("Запуск записанной камеры отклонён браузером.");
         setState("error");
         reportAdmission({
           phase: "error",
@@ -1264,12 +1465,95 @@ export function RecordedFmp4Player({
     bufferRevision,
     directPlaybackSeconds,
     epoch,
+    holdingForSegmentRecovery,
     playback?.playing,
+    playbackAuthority,
     playbackRate,
     segmented,
     visualState,
   ]);
 
+  useEffect(() => {
+    const video = videoRef.current;
+    if (!video || !recoverTimestampStalls || !playback?.playing || visualState !== "ready") {
+      return;
+    }
+    let lastSeconds = video.currentTime;
+    let lastProgressAtMs = performance.now();
+    const interval = window.setInterval(() => {
+      if (
+        !playbackPlayingRef.current
+        || video.paused
+        || video.ended
+        || video.seeking
+        || video.readyState < HTMLMediaElement.HAVE_CURRENT_DATA
+      ) {
+        lastSeconds = video.currentTime;
+        lastProgressAtMs = performance.now();
+        return;
+      }
+      const nowMs = performance.now();
+      if (video.currentTime >= lastSeconds + 0.02) {
+        lastSeconds = video.currentTime;
+        lastProgressAtMs = nowMs;
+        return;
+      }
+      if (nowMs - lastProgressAtMs < 1_250) return;
+      const bufferedRanges = Array.from(
+        { length: video.buffered.length },
+        (_, index) => [video.buffered.start(index), video.buffered.end(index)] as const,
+      );
+      const targetSeconds = recordedMediaTimestampStallRecoveryTarget(
+        video.currentTime,
+        bufferedRanges,
+      );
+      lastProgressAtMs = nowMs;
+      if (targetSeconds === null) return;
+      // Field recordings can contain non-monotonic or corrupt H.264 timestamps.
+      // If decoded time is frozen despite proven buffered media ahead, skip only
+      // the broken timestamp interval and return authority to the media clock.
+      video.currentTime = targetSeconds;
+      lastSeconds = targetSeconds;
+    }, 250);
+    return () => window.clearInterval(interval);
+  }, [playback?.playing, recoverTimestampStalls, visualState]);
+
+  useEffect(() => {
+    const video = videoRef.current;
+    if (!video || !segmented || !playback?.playing || visualState !== "ready") return;
+    let cancelled = false;
+    const resumeIfDecoderReady = () => {
+      if (cancelled || !playbackPlayingRef.current || !video.paused) return;
+      const runtime = segmentedRuntimeRef.current;
+      const target = runtime?.target;
+      if (
+        !runtime
+        || !target
+        || runtime.disposed
+        || video.seeking
+        || video.readyState < HTMLMediaElement.HAVE_CURRENT_DATA
+        || Math.abs(video.currentTime - target.targetSeconds) > 0.25
+        || !recordedMediaTimeRangesContain(video.buffered, target.targetSeconds)
+      ) return;
+      playAttemptRevisionRef.current += 1;
+      const playAttemptRevision = playAttemptRevisionRef.current;
+      video.playbackRate = playbackRateRef.current;
+      void video.play().catch(() => {
+        if (cancelled || playAttemptRevisionRef.current !== playAttemptRevision) return;
+        if (playbackAuthority === "host") return;
+        onPlayingRejectedRef.current?.();
+      });
+    };
+    const queueResume = () => window.queueMicrotask(resumeIfDecoderReady);
+    const events = ["pause", "canplay", "seeked"] as const;
+    for (const event of events) video.addEventListener(event, queueResume);
+    resumeIfDecoderReady();
+    return () => {
+      cancelled = true;
+      for (const event of events) video.removeEventListener(event, queueResume);
+    };
+  }, [bufferRevision, playback?.playing, playbackAuthority, segmented, visualState]);
+
   useEffect(() => {
     const video = videoRef.current;
     if ((!interactive && onPlaybackChange === undefined) || !video || !epoch || visualState !== "ready") return;
@@ -1327,7 +1611,9 @@ export function RecordedFmp4Player({
           {visualState === "waiting"
             ? "Камера на этой позиции ещё не записывалась"
             : visualState === "error"
-              ? "Записанное видео недоступно"
+              ? errorMessage ?? "Записанное видео недоступно"
+              : errorMessage
+                ? errorMessage
               : archive
                 ? "Проверяем seek и codec записанного видео…"
                 : "Читаем manifest записанного видео…"}

apps/control-station/src/components/laboratory/AICompositionReplay.tsx

@@ -0,0 +1,33 @@
+import { CanonicalResultRerunReplay } from "./CanonicalResultRerunReplay";
+import { resolveAICompositionReplay } from "../../core/laboratory/canonicalLabReplay";
+import type { ObservationSessionReplayLaunch } from "../../core/observation/sessionArchive";
+import type { AICompositionRun } from "../../core/observatory/aiComposition";
+
+function resolveComposition(
+  runId: string,
+  launch: ObservationSessionReplayLaunch,
+  options: { signal: AbortSignal },
+) {
+  return resolveAICompositionReplay(runId, launch, options);
+}
+
+export function AICompositionReplay({ run }: { run: AICompositionRun }) {
+  const semantics = run.moduleIds.includes("ddrnet") || run.moduleIds.includes("eomt");
+  const detections = run.moduleIds.includes("rf-detr")
+    || run.moduleIds.includes("object-distance");
+  const costmap = run.moduleIds.includes("tgs");
+  return (
+    <CanonicalResultRerunReplay
+      key={run.runId}
+      resultId={run.runId}
+      sessionId={run.sourceSessionId}
+      resolveReplay={resolveComposition}
+      semantics={semantics}
+      detections={detections}
+      costmap={costmap}
+      moduleIds={run.moduleIds}
+      viewerLayers={run.presentation.viewerLayers}
+      label={run.configurationLabel}
+    />
+  );
+}

apps/control-station/src/components/laboratory/CanonicalRecordedLabReplay.tsx

@@ -0,0 +1,265 @@
+import { useCallback, useEffect, useState, type ReactNode } from "react";
+import { SegmentedControl, SplitPane, type SplitPaneOrientation } from "@nodedc/ui-react";
+
+import { LaboratoryEvidenceViewer } from "./LaboratoryEvidenceViewer";
+
+export const CANONICAL_RECORDED_LAB_REPLAY_CONTRACT =
+  "missioncore.canonical-recorded-lab-replay/v1";
+
+export interface CanonicalRecordedLabMode<T extends string> {
+  value: T;
+  label: string;
+  disabled?: boolean;
+}
+
+/**
+ * The interaction contract from the accepted recorded-LAB instrument.
+ *
+ * Keeping pane selection, collapse semantics, responsive split orientation,
+ * expansion and splitter state here prevents individual experiments from
+ * quietly growing their own replay behaviour.  Experiments provide evidence
+ * layers; they do not reimplement the laboratory shell.
+ */
+export function useCanonicalRecordedLabReplayState<
+  TMedia extends string,
+  TSpatial extends string,
+>({
+  initialMediaMode,
+  initialSpatialMode,
+}: {
+  initialMediaMode: TMedia;
+  initialSpatialMode: TSpatial | null;
+}) {
+  const [mediaMode, setMediaMode] = useState<TMedia | null>(initialMediaMode);
+  const [spatialMode, setSpatialMode] = useState<TSpatial | null>(initialSpatialMode);
+  const [splitPrimarySize, setSplitPrimarySize] = useState(50);
+  const [splitOrientation, setSplitOrientation] = useState<SplitPaneOrientation>(() => (
+    typeof window !== "undefined" && window.matchMedia("(max-width: 900px)").matches
+      ? "horizontal"
+      : "vertical"
+  ));
+  const [expanded, setExpanded] = useState(false);
+
+  useEffect(() => {
+    const query = window.matchMedia("(max-width: 900px)");
+    const update = () => setSplitOrientation(query.matches ? "horizontal" : "vertical");
+    update();
+    query.addEventListener("change", update);
+    return () => query.removeEventListener("change", update);
+  }, []);
+
+  const onMediaModeChange = useCallback((next: TMedia | "none") => {
+    if (next === "none") return;
+    setMediaMode((current) => current === next ? null : next);
+  }, []);
+  const onSpatialModeChange = useCallback((next: TSpatial | "none") => {
+    if (next === "none") return;
+    setSpatialMode((current) => current === next ? null : next);
+  }, []);
+
+  return {
+    mediaMode,
+    spatialMode,
+    splitView: mediaMode !== null && spatialMode !== null,
+    splitPrimarySize,
+    splitOrientation,
+    expanded,
+    onMediaModeChange,
+    onSpatialModeChange,
+    onSplitPrimarySizeChange: setSplitPrimarySize,
+    onExpandedChange: setExpanded,
+  };
+}
+
+export function CanonicalRecordedLabReplay<
+  TMedia extends string,
+  TSpatial extends string,
+>({
+  label,
+  mediaMode,
+  mediaModes,
+  spatialMode,
+  spatialModes,
+  expanded,
+  splitPrimarySize,
+  splitOrientation,
+  mediaAriaLabel,
+  spatialAriaLabel,
+  mediaLayerControls,
+  spatialLayerControls,
+  spatialLeadingControl,
+  spatialTrailingControl,
+  mediaModeControlsVisible = true,
+  paneToolbarsAlwaysVisible = false,
+  mediaMultiLayer = false,
+  mediaContent,
+  spatialContent,
+  unifiedContent,
+  emptyMessage,
+  deckOverlays,
+  actions,
+  overlay,
+  transport,
+  trailingActions,
+  onMediaModeChange,
+  onSpatialModeChange,
+  onExpandedChange,
+  onSplitPrimarySizeChange,
+}: {
+  label: string;
+  mediaMode: TMedia;
+  mediaModes: readonly CanonicalRecordedLabMode<TMedia>[];
+  spatialMode: TSpatial;
+  spatialModes: readonly CanonicalRecordedLabMode<TSpatial>[];
+  expanded: boolean;
+  splitPrimarySize: number;
+  splitOrientation: SplitPaneOrientation;
+  mediaAriaLabel: string;
+  spatialAriaLabel: string;
+  mediaLayerControls?: ReactNode;
+  spatialLayerControls?: ReactNode;
+  spatialLeadingControl?: ReactNode;
+  spatialTrailingControl?: ReactNode;
+  mediaModeControlsVisible?: boolean;
+  /** Keeps renderer-local controls inside their viewport when only one pane is present. */
+  paneToolbarsAlwaysVisible?: boolean;
+  mediaMultiLayer?: boolean;
+  mediaContent?: ReactNode;
+  spatialContent?: ReactNode;
+  /** One upstream Rerun viewer owns both panes; this controlled split owns their shared geometry. */
+  unifiedContent?: ReactNode;
+  emptyMessage: string;
+  deckOverlays?: ReactNode;
+  actions?: ReactNode;
+  overlay?: ReactNode;
+  transport?: ReactNode;
+  trailingActions?: ReactNode;
+  onMediaModeChange: (mode: TMedia) => void;
+  onSpatialModeChange: (mode: TSpatial) => void;
+  onExpandedChange: (expanded: boolean) => void;
+  onSplitPrimarySizeChange: (size: number) => void;
+}) {
+  const splitView = mediaMode !== "none" && spatialMode !== "none";
+  const mediaModeControls = (
+    <div className="m4-replay-threat-visual__pane-mode-controls" data-pane-mode="media">
+      <SegmentedControl
+        value={mediaMode}
+        items={[...mediaModes]}
+        label="Видео и камера"
+        size="dense"
+        onChange={onMediaModeChange}
+      />
+    </div>
+  );
+  const spatialModeControls = (
+    <div className="m4-replay-threat-visual__pane-mode-controls" data-pane-mode="spatial">
+      <SegmentedControl
+        value={spatialMode}
+        items={[...spatialModes]}
+        label="3D и план"
+        size="dense"
+        onChange={onSpatialModeChange}
+      />
+    </div>
+  );
+  const mediaPane = (
+    <section
+      className="m4-replay-threat-visual__pane"
+      data-pane="media"
+      aria-label={mediaAriaLabel}
+      hidden={mediaMode === "none"}
+    >
+      {splitView || paneToolbarsAlwaysVisible ? (
+        <div
+          className="m4-replay-threat-visual__pane-toolbar"
+          data-pane-toolbar="media"
+          data-multi-semantic={mediaMultiLayer ? "true" : undefined}
+        >
+          {mediaLayerControls}
+          {mediaModeControlsVisible ? mediaModeControls : null}
+        </div>
+      ) : null}
+      {mediaContent}
+    </section>
+  );
+  const spatialPane = spatialMode !== "none" ? (
+    <section
+      className="m4-replay-threat-visual__pane"
+      data-pane="spatial"
+      aria-label={spatialAriaLabel}
+    >
+      {splitView || paneToolbarsAlwaysVisible ? (
+        <div
+          className="m4-replay-threat-visual__pane-toolbar"
+          data-pane-toolbar="spatial"
+        >
+          {spatialLeadingControl}
+          <div className="m4-replay-threat-visual__spatial-toolbar-end">
+            {spatialLayerControls}
+            {spatialModeControls}
+            {spatialTrailingControl}
+          </div>
+        </div>
+      ) : null}
+      {spatialContent}
+    </section>
+  ) : null;
+
+  return (
+    <div
+      className="l3-visual-audit m4-replay-threat-visual"
+      data-contract={CANONICAL_RECORDED_LAB_REPLAY_CONTRACT}
+    >
+      <LaboratoryEvidenceViewer
+        label={label}
+        className="m4-replay-threat-evidence-viewer"
+        mode={mediaMode}
+        modes={[...mediaModes]}
+        secondaryMode={{
+          value: spatialMode,
+          modes: [...spatialModes],
+          label: "3D и план",
+          onChange: onSpatialModeChange,
+        }}
+        expanded={expanded}
+        onModeChange={onMediaModeChange}
+        onExpandedChange={onExpandedChange}
+        modeControlsVisible={!splitView && !paneToolbarsAlwaysVisible}
+        actions={actions}
+        overlay={overlay}
+        transport={transport}
+        trailingActions={trailingActions}
+      >
+        <div
+          className="m4-replay-threat-visual__deck"
+          data-split={splitView ? "true" : undefined}
+          data-empty={mediaMode === "none" && spatialMode === "none" ? "true" : undefined}
+          data-native-rerun={unifiedContent ? "true" : undefined}
+        >
+          {unifiedContent ? (
+            <div className="m4-replay-threat-visual__unified-content">
+              {unifiedContent}
+            </div>
+          ) : null}
+          <SplitPane
+            primary={mediaPane}
+            secondary={spatialPane ?? <div />}
+            primarySize={splitView ? splitPrimarySize : mediaMode !== "none" ? 100 : 0}
+            onPrimarySizeChange={onSplitPrimarySizeChange}
+            orientation={splitOrientation}
+            minPrimarySize={splitView ? 24 : 0}
+            minSecondarySize={splitView ? 24 : 0}
+            resizable={splitView}
+            separatorLabel="Изменить размер видео/камеры и 3D/плана"
+          />
+          {mediaMode === "none" && spatialMode === "none" ? (
+            <div className="l3-visual-audit__state" role="status">
+              {emptyMessage}
+            </div>
+          ) : null}
+          {deckOverlays}
+        </div>
+      </LaboratoryEvidenceViewer>
+    </div>
+  );
+}

apps/control-station/src/components/laboratory/CanonicalResultRerunReplay.tsx

@@ -0,0 +1,524 @@
+import {
+  useCallback,
+  useEffect,
+  useMemo,
+  useRef,
+  useState,
+} from "react";
+import {
+  ActivityIndicator,
+  Button,
+  Checker,
+  ControlRow,
+  Icon,
+  IconButton,
+  Inspector,
+  InspectorSelectField,
+  RangeControl,
+  ToastStack,
+  Window,
+  type ToastItem,
+} from "@nodedc/ui-react";
+
+import { ObservationTimeline } from "../ObservationTimeline";
+import {
+  RerunViewport,
+  isRecordedPlaybackPresentationReady,
+  type RerunPlaybackController,
+  type RerunPlaybackState,
+  type RerunViewportStatus,
+} from "../RerunViewport";
+import {
+  CanonicalRecordedLabReplay,
+  useCanonicalRecordedLabReplayState,
+} from "../laboratory/CanonicalRecordedLabReplay";
+import type { CanonicalLabReplayDescriptor } from "../../core/laboratory/canonicalLabReplay";
+import type { ObservationSessionReplayLaunch } from "../../core/observation/sessionArchive";
+import { recordedSessionRerunProfile } from "../../core/observation/viewerProfile";
+import { resolveObservationSessionReplay } from "../../core/observation/useObservationSessions";
+import type { AIViewerLayer } from "../../core/observatory/aiComposition";
+import {
+  fetchLabViewProfile,
+  saveLabViewProfile,
+} from "../../core/observatory/labViewProfile";
+import {
+  defaultSceneSettings,
+  type PointColorMode,
+  type PointPalette,
+  type SceneSettings,
+} from "../../sceneSettings";
+
+type MediaMode = "camera";
+type SpatialMode = "3d" | "plan";
+
+interface CanonicalReplayLaunch {
+  base: ObservationSessionReplayLaunch;
+  replay: CanonicalLabReplayDescriptor;
+}
+
+const RERUN_UNIFIED_CAMERA_SHARE_PERCENT = 46;
+const LAB_SCENE_SETTINGS_STORAGE_PREFIX = "missioncore.observatory.lab-scene-settings.v1:";
+const LAB_VIEW_PROFILE_ERROR_TOAST = "observatory-lab-view-profile-error";
+
+const COLOR_OPTIONS: readonly { value: PointColorMode; label: string }[] = [
+  { value: "intensity", label: "Интенсивность" },
+  { value: "height", label: "Высота Z" },
+  { value: "distance", label: "Дистанция" },
+  { value: "rgb", label: "RGB" },
+  { value: "class", label: "Класс" },
+];
+
+const PALETTE_OPTIONS: readonly { value: PointPalette; label: string }[] = [
+  { value: "turbo", label: "Turbo" },
+  { value: "viridis", label: "Viridis" },
+  { value: "plasma", label: "Plasma" },
+  { value: "grayscale", label: "Серый" },
+];
+
+const LAB_SCENE_DEFAULTS: SceneSettings = {
+  ...defaultSceneSettings,
+  pointSize: 3.8,
+  accumulationSeconds: 5,
+};
+
+export function normalizeLabSceneSettings(settings: SceneSettings): SceneSettings {
+  const pointSize = Number.isFinite(settings.pointSize) ? settings.pointSize : LAB_SCENE_DEFAULTS.pointSize;
+  const accumulationSeconds = Number.isFinite(settings.accumulationSeconds)
+    ? settings.accumulationSeconds : LAB_SCENE_DEFAULTS.accumulationSeconds;
+  return {
+    ...settings,
+    pointSize: Math.round(Math.max(0.1, pointSize) * 10) / 10,
+    accumulationSeconds: Math.round(Math.max(0, accumulationSeconds)),
+  };
+}
+
+function loadLabSceneSettings(resultId: string): SceneSettings {
+  if (typeof window === "undefined") return LAB_SCENE_DEFAULTS;
+  try {
+    const raw = window.localStorage.getItem(`${LAB_SCENE_SETTINGS_STORAGE_PREFIX}${resultId}`);
+    if (raw === null) return LAB_SCENE_DEFAULTS;
+    const value: unknown = JSON.parse(raw);
+    if (typeof value !== "object" || value === null || Array.isArray(value)) return LAB_SCENE_DEFAULTS;
+    const row = value as Record<string, unknown>;
+    const pointSize = row.pointSize;
+    const accumulationSeconds = row.accumulationSeconds;
+    const colorMode = row.colorMode;
+    const palette = row.palette;
+    const showGrid = row.showGrid;
+    const showLabels = row.showLabels;
+    const showCameraFrustums = row.showCameraFrustums;
+    if (
+      typeof pointSize !== "number" || !Number.isFinite(pointSize) || pointSize < 0.1
+      || typeof accumulationSeconds !== "number" || !Number.isFinite(accumulationSeconds)
+      || accumulationSeconds < 0
+      || !COLOR_OPTIONS.some((option) => option.value === colorMode)
+      || !PALETTE_OPTIONS.some((option) => option.value === palette)
+      || typeof showGrid !== "boolean"
+      || typeof showLabels !== "boolean"
+      || typeof showCameraFrustums !== "boolean"
+    ) return LAB_SCENE_DEFAULTS;
+    return {
+      ...LAB_SCENE_DEFAULTS,
+      pointSize,
+      accumulationSeconds,
+      colorMode: colorMode as PointColorMode,
+      palette: palette as PointPalette,
+      showGrid,
+      showLabels,
+      showCameraFrustums,
+    };
+  } catch {
+    return LAB_SCENE_DEFAULTS;
+  }
+}
+
+export function CanonicalResultRerunReplay({
+  resultId,
+  sessionId,
+  initialPlaybackStartSeconds,
+  resolveReplay,
+  semantics = false,
+  detections = false,
+  costmap = false,
+  moduleIds = [],
+  viewerLayers = [],
+  label = "Сохранённый результат",
+}: {
+  resultId: string;
+  sessionId: string;
+  initialPlaybackStartSeconds?: number;
+  resolveReplay: (resultId: string, launch: ObservationSessionReplayLaunch, options: { signal: AbortSignal }) => Promise<CanonicalLabReplayDescriptor>;
+  semantics?: boolean;
+  detections?: boolean;
+  costmap?: boolean;
+  portable?: boolean;
+  moduleIds?: readonly string[];
+  viewerLayers?: readonly AIViewerLayer[];
+  label?: string;
+}) {
+  const {
+    mediaMode,
+    spatialMode,
+    splitPrimarySize,
+    splitOrientation,
+    expanded,
+    onMediaModeChange,
+    onSpatialModeChange,
+    onSplitPrimarySizeChange,
+    onExpandedChange,
+  } = useCanonicalRecordedLabReplayState<MediaMode, SpatialMode>({
+    initialMediaMode: "camera",
+    initialSpatialMode: "3d",
+  });
+  const layerIds = useMemo(
+    () => new Set(viewerLayers.map((layer) => layer.layerId)),
+    [viewerLayers],
+  );
+  const hasProjectedLayers = viewerLayers.length > 0;
+  const hasDDRNet = layerIds.has("camera.ddrnet")
+    || (!hasProjectedLayers && semantics && moduleIds.includes("ddrnet"));
+  const hasEoMT = layerIds.has("camera.eomt")
+    || (!hasProjectedLayers && semantics && moduleIds.includes("eomt"));
+  const hasFallbackSemantics = semantics && !hasDDRNet && !hasEoMT;
+  const hasDetections = layerIds.has("camera.detections") || (!hasProjectedLayers && detections);
+  const hasTgs = layerIds.has("spatial.tgs") || (!hasProjectedLayers && costmap);
+  const legacyUnclassified = !hasProjectedLayers
+    && moduleIds.length === 0
+    && !semantics
+    && !detections
+    && !costmap;
+  const hasCameraPane = layerIds.has("camera.source")
+    || (!hasProjectedLayers && (legacyUnclassified || semantics || detections));
+  const hasSourcePoints = layerIds.has("spatial.source-points")
+    || (!hasProjectedLayers && (legacyUnclassified || costmap || moduleIds.includes("object-distance")));
+  const hasLocalSlam = layerIds.has("spatial.local-slam")
+    || (!hasProjectedLayers && (legacyUnclassified || costmap || moduleIds.includes("object-distance")));
+  const hasSpatialPane = hasSourcePoints || hasLocalSlam || hasTgs;
+  const splitView = hasCameraPane && hasSpatialPane;
+
+  const [showCamera, setShowCamera] = useState(true);
+  const [showDDRNet, setShowDDRNet] = useState(hasDDRNet || hasFallbackSemantics);
+  const [showEoMT, setShowEoMT] = useState(hasEoMT);
+  const [showDetections, setShowDetections] = useState(hasDetections);
+  const [showSourcePoints, setShowSourcePoints] = useState(hasSourcePoints);
+  const [showLocalSlam, setShowLocalSlam] = useState(hasLocalSlam);
+  const [showTgs, setShowTgs] = useState(hasTgs);
+  const [followTarget, setFollowTarget] = useState(false);
+  const [settingsOpen, setSettingsOpen] = useState(false);
+  const [sceneDraft, setSceneDraft] = useState<SceneSettings>(() => loadLabSceneSettings(resultId));
+  const [blueprintSplitPrimarySize, setBlueprintSplitPrimarySize] = useState(
+    RERUN_UNIFIED_CAMERA_SHARE_PERCENT,
+  );
+  const [toasts, setToasts] = useState<ToastItem[]>([]);
+  const [viewResetGeneration, setViewResetGeneration] = useState<0 | 1>(hasTgs ? 1 : 0);
+  const [playback, setPlayback] = useState<RerunPlaybackState | null>(null);
+  const [playbackController, setPlaybackController] = useState<RerunPlaybackController | null>(null);
+  const [viewerStatus, setViewerStatus] = useState<RerunViewportStatus>("idle");
+  const [launch, setLaunch] = useState<CanonicalReplayLaunch | null>(null);
+  const [launchError, setLaunchError] = useState<string | null>(null);
+  const sceneDraftRef = useRef(sceneDraft);
+  const previousSplitViewRef = useRef(splitView);
+  const trackedLaunchSha256Ref = useRef<string | null>(null);
+
+  useEffect(() => {
+    const launchSha256 = launch?.replay.sha256 ?? null;
+    if (trackedLaunchSha256Ref.current !== launchSha256 || (splitView && !previousSplitViewRef.current)) {
+      onSplitPrimarySizeChange(RERUN_UNIFIED_CAMERA_SHARE_PERCENT);
+      setBlueprintSplitPrimarySize(RERUN_UNIFIED_CAMERA_SHARE_PERCENT);
+    }
+    trackedLaunchSha256Ref.current = launchSha256;
+    previousSplitViewRef.current = splitView;
+  }, [launch?.replay.sha256, onSplitPrimarySizeChange, splitView]);
+
+  useEffect(() => {
+    if (!splitView) return;
+    const timer = window.setTimeout(() => setBlueprintSplitPrimarySize(splitPrimarySize), 75);
+    return () => window.clearTimeout(timer);
+  }, [splitPrimarySize, splitView]);
+
+  useEffect(() => {
+    try {
+      window.localStorage.setItem(
+        `${LAB_SCENE_SETTINGS_STORAGE_PREFIX}${resultId}`,
+        JSON.stringify({
+          pointSize: sceneDraft.pointSize,
+          accumulationSeconds: sceneDraft.accumulationSeconds,
+          colorMode: sceneDraft.colorMode,
+          palette: sceneDraft.palette,
+          showGrid: sceneDraft.showGrid,
+          showLabels: sceneDraft.showLabels,
+          showCameraFrustums: sceneDraft.showCameraFrustums,
+        }),
+      );
+    } catch {
+      // The visual remains usable when the browser refuses local persistence.
+    }
+  }, [resultId, sceneDraft]);
+
+  useEffect(() => {
+    const controller = new AbortController();
+    void fetchLabViewProfile(resultId, controller.signal).then((settings) => {
+      if (!controller.signal.aborted && settings) {
+        sceneDraftRef.current = settings;
+        setSceneDraft(settings);
+      }
+    }).catch(() => {
+      // The per-browser copy remains a usable fallback while the local service recovers.
+    });
+    return () => controller.abort();
+  }, [resultId]);
+
+  useEffect(() => {
+    const controller = new AbortController();
+    setLaunch(null);
+    setLaunchError(null);
+    setPlayback(null);
+    setPlaybackController(null);
+    setViewerStatus("idle");
+    void resolveObservationSessionReplay(sessionId, {
+      signal: controller.signal,
+      maximumWaitMs: 30 * 60 * 1000,
+      onUpdate: () => undefined,
+    }).then(async (value) => ({
+      base: value,
+      replay: await resolveReplay(resultId, value, { signal: controller.signal }),
+    })).then((value) => {
+      if (!controller.signal.aborted) setLaunch(value);
+    }).catch((caught: unknown) => {
+      if (!controller.signal.aborted) {
+        setLaunchError(caught instanceof Error ? caught.message : "Сохранённая запись недоступна.");
+      }
+    });
+    return () => controller.abort();
+  }, [resultId, sessionId, resolveReplay]);
+
+  const presentationReady = playbackController !== null
+    && isRecordedPlaybackPresentationReady(viewerStatus, playback);
+  const presentationState = launchError || viewerStatus === "error"
+    ? "error"
+    : presentationReady ? "ready" : "loading";
+  const sceneSettings = useMemo<SceneSettings>(() => ({
+    ...sceneDraft,
+    projection: spatialMode === "plan" ? "2d" : "3d",
+    showPoints: spatialMode !== null && (showSourcePoints || showLocalSlam),
+    showTrajectory: spatialMode !== null && showLocalSlam,
+    accumulationSeconds: showLocalSlam ? sceneDraft.accumulationSeconds : 0,
+  }), [sceneDraft, showLocalSlam, showSourcePoints, spatialMode]);
+  const semanticVisible = showDDRNet || showEoMT;
+  const profile = launch ? recordedSessionRerunProfile({
+    sourceUrl: launch.replay.sourceUrl,
+    artifact: {
+      sourceUrl: launch.replay.sourceUrl,
+      viewerSourceUrl: launch.replay.viewerSourceUrl,
+      byteLength: launch.replay.byteLength,
+      sha256: launch.replay.sha256,
+    },
+    blueprintSourceUrl: launch.replay.blueprintSourceUrl,
+    autoplayWhenReady: false,
+    presentationGate: "ready",
+    expectedTimelineStartSeconds: launch.base.timelineStartSeconds,
+    expectedTimelineEndSeconds: launch.base.timelineEndSeconds,
+    initialPlaybackStartSeconds: initialPlaybackStartSeconds
+      ?? ((launch.base.mediaSources[0]?.timelineStartSeconds ?? launch.base.timelineStartSeconds)
+        + (hasTgs ? 0.000001 : 0)),
+    view: hasCameraPane && !hasSpatialPane ? "perception" : "spatial",
+    viewResetGeneration,
+    followTrajectory: followTarget,
+    semanticLayer: showEoMT ? "city" : "vegetation",
+    unifiedPerception: splitView,
+    unifiedCameraShare: blueprintSplitPrimarySize / 100,
+    planView: spatialMode === "plan",
+    perceptionLayers: {
+      enabled: true,
+      cameraImage: showCamera,
+      detections2d: hasDetections && showDetections,
+      segmentation: semantics && semanticVisible,
+      cuboids3d: false,
+      costmap: hasTgs && showTgs,
+    },
+    perceptionRetryGeneration: 0,
+    lockPerceptionCameraInteraction: false,
+  }) : null;
+
+  const toggle = (caption: string, active: boolean, onClick: () => void) => (
+    <Button key={caption} size="dense" shape="pill" variant={active ? "primary" : "secondary"}
+      aria-pressed={active} onClick={onClick}>
+      {caption}
+    </Button>
+  );
+  const openSlamSettings = useCallback(() => {
+    if (expanded) onExpandedChange(false);
+    setSettingsOpen(true);
+  }, [expanded, onExpandedChange]);
+  const patchSceneDraft = useCallback((patch: Partial<SceneSettings>) => {
+    const next = { ...sceneDraftRef.current, ...patch };
+    sceneDraftRef.current = next;
+    setSceneDraft(next);
+  }, []);
+  const closeSlamSettings = useCallback(() => {
+    const next = normalizeLabSceneSettings(sceneDraftRef.current);
+    sceneDraftRef.current = next;
+    setSceneDraft(next);
+    setSettingsOpen(false);
+    void saveLabViewProfile(resultId, next).then((settings) => {
+      sceneDraftRef.current = settings;
+      setSceneDraft(settings);
+      setToasts((current) => current.filter(({ id }) => id !== LAB_VIEW_PROFILE_ERROR_TOAST));
+    }).catch(() => {
+      setToasts((current) => [
+        ...current.filter(({ id }) => id !== LAB_VIEW_PROFILE_ERROR_TOAST),
+        {
+          id: LAB_VIEW_PROFILE_ERROR_TOAST,
+          tone: "error",
+          title: "Настройки LAB не сохранились",
+          description: "Изменения остались в текущем просмотре. Откройте настройки и повторите.",
+        },
+      ]);
+    });
+  }, [resultId]);
+  const mediaLayerControls = (
+    <div className="m4-replay-threat-visual__pane-layer-controls" role="group" aria-label="Слои камеры">
+      {toggle("КАМЕРА", showCamera, () => setShowCamera((value) => !value))}
+      {hasEoMT ? toggle("EOMT", showEoMT, () => setShowEoMT((value) => !value)) : null}
+      {hasDDRNet || hasFallbackSemantics
+        ? toggle("DDRNET", showDDRNet, () => setShowDDRNet((value) => !value)) : null}
+      {hasDetections
+        ? toggle("РАМКИ", showDetections, () => setShowDetections((value) => !value)) : null}
+    </div>
+  );
+  const spatialLayerControls = (
+    <div className="m4-replay-threat-visual__pane-layer-controls" role="group" aria-label="Слои облака точек">
+      {hasSourcePoints
+        ? toggle("ИСХ. ТОЧКИ", showSourcePoints, () => setShowSourcePoints((value) => !value)) : null}
+      {hasLocalSlam ? (
+        <div className="m4-replay-threat-visual__layer-with-settings">
+          {toggle("ЛОК. SLAM", showLocalSlam, () => setShowLocalSlam((value) => !value))}
+          <IconButton label="Настройки облака SLAM" onClick={openSlamSettings}>
+            <Icon name="settings" size={14} />
+          </IconButton>
+        </div>
+      ) : null}
+      {hasTgs ? toggle("TGS", showTgs, () => setShowTgs((value) => !value)) : null}
+    </div>
+  );
+  const followTargetControl = toggle(
+    "СЛЕДОВАТЬ",
+    followTarget,
+    () => setFollowTarget((value) => !value),
+  );
+  const resetSpatialView = (
+    <IconButton label="Сбросить положение видов"
+      onClick={() => setViewResetGeneration((value) => value === 0 ? 1 : 0)}>
+      <Icon name="refresh" size={16} />
+    </IconButton>
+  );
+
+  const transport = presentationReady && playback && playbackController ? (
+    <ObservationTimeline
+      className="m4-replay-threat-visual__timeline canonical-vegetation-rerun-replay__timeline"
+      active
+      sourceCount={3}
+      mode="recorded"
+      seekable
+      synchronization="shared-clock"
+      rangeNs={playback.rangeNs}
+      currentNs={playback.currentNs}
+      playing={playback.playing}
+      onSeek={playbackController.seek}
+      onPlayingChange={playbackController.setPlaying}
+      showJumpToEnd={false}
+    />
+  ) : undefined;
+
+  return (
+    <div className="canonical-vegetation-rerun-replay" data-presentation-state={presentationState}
+      aria-busy={presentationState === "loading"}>
+      <CanonicalRecordedLabReplay
+        label={label}
+        mediaMode={hasCameraPane ? mediaMode ?? "camera" : "none"}
+        mediaModes={[{ value: "camera", label: "КАМЕРА" }]}
+        spatialMode={hasSpatialPane ? spatialMode ?? "3d" : "none"}
+        spatialModes={[{ value: "3d", label: "3D" }, { value: "plan", label: "ПЛАН" }]}
+        expanded={expanded}
+        splitPrimarySize={splitPrimarySize}
+        splitOrientation={splitView ? "vertical" : splitOrientation}
+        mediaAriaLabel="Камера и рассчитанные слои"
+        spatialAriaLabel={spatialMode === "plan" ? "Вид сверху" : "Трёхмерная сцена"}
+        mediaLayerControls={mediaLayerControls}
+        spatialLayerControls={spatialLayerControls}
+        spatialTrailingControl={followTargetControl}
+        mediaModeControlsVisible={false}
+        paneToolbarsAlwaysVisible
+        mediaMultiLayer
+        actions={resetSpatialView}
+        unifiedContent={profile ? (
+          <div className="canonical-vegetation-rerun-replay__viewport-lock"
+            data-split-view={splitView ? "true" : undefined}>
+            <RerunViewport profile={profile} sceneSettings={sceneSettings}
+              onStatusChange={setViewerStatus} onPlaybackChange={setPlayback}
+              onPlaybackControllerChange={setPlaybackController} />
+          </div>
+        ) : launchError ? (
+          <div className="l3-visual-audit__state" role="alert">{launchError}</div>
+        ) : <div aria-hidden="true" />}
+        emptyMessage="Слои результата недоступны."
+        deckOverlays={presentationState === "loading" ? (
+          <div className="canonical-vegetation-rerun-replay__loading">
+            <ActivityIndicator label="Загружаем синхронизированную запись" />
+          </div>
+        ) : undefined}
+        transport={transport}
+        onMediaModeChange={onMediaModeChange}
+        onSpatialModeChange={onSpatialModeChange}
+        onExpandedChange={onExpandedChange}
+        onSplitPrimarySizeChange={onSplitPrimarySizeChange}
+      />
+      <Window open={settingsOpen} title="Отображение" subtitle="Параметры облака SLAM"
+        placement="end" size="sm" onClose={closeSlamSettings}>
+        <Inspector defaultOpen={["points"]} sections={[
+          {
+            id: "points",
+            label: "Облако точек",
+            description: "Размер и способ окрашивания",
+            content: <>
+              <RangeControl label="Размер точки" min={0.1} max={10} step={0.1}
+                exactValueBounds={{ min: 0.1 }}
+                value={sceneDraft.pointSize} formatValue={(value) => `${value.toFixed(1)} пкс`}
+                onChange={(pointSize) => patchSceneDraft({ pointSize })} />
+              <InspectorSelectField label="Атрибут цвета" value={sceneDraft.colorMode}
+                options={[...COLOR_OPTIONS]}
+                onChange={(colorMode) => patchSceneDraft({ colorMode })} />
+              <InspectorSelectField label="Палитра" value={sceneDraft.palette}
+                options={[...PALETTE_OPTIONS]}
+                onChange={(palette) => patchSceneDraft({ palette })} />
+            </>,
+          },
+          {
+            id: "history",
+            label: "Накопление и время",
+            description: "История облака и траектория",
+            content: <RangeControl label="Накопление" min={0} max={500} step={1}
+              exactValueBounds={{ min: 0 }}
+              value={sceneDraft.accumulationSeconds} formatValue={(value) => `${value} с`}
+              onChange={(accumulationSeconds) => patchSceneDraft({ accumulationSeconds })} />,
+          },
+          {
+            id: "environment",
+            label: "Окружение сцены",
+            description: "Сетка, подписи и камеры",
+            content: <>
+              <ControlRow label="Сетка"><Checker checked={sceneDraft.showGrid} label="Показывать"
+                onChange={(showGrid) => patchSceneDraft({ showGrid })} /></ControlRow>
+              <ControlRow label="Подписи"><Checker checked={sceneDraft.showLabels} label="Показывать"
+                onChange={(showLabels) => patchSceneDraft({ showLabels })} /></ControlRow>
+              <ControlRow label="Камеры"><Checker checked={sceneDraft.showCameraFrustums} label="Показывать"
+                onChange={(showCameraFrustums) => patchSceneDraft({ showCameraFrustums })} /></ControlRow>
+            </>,
+          },
+        ]} />
+      </Window>
+      <ToastStack items={toasts}
+        onDismiss={(id) => setToasts((current) => current.filter((item) => item.id !== id))} />
+    </div>
+  );
+}

apps/control-station/src/components/laboratory/CanonicalVegetationRerunReplay.tsx

@@ -0,0 +1,12 @@
+import { CanonicalResultRerunReplay } from "./CanonicalResultRerunReplay";
+import { resolveCanonicalLabReplay } from "../../core/laboratory/canonicalLabReplay";
+import type { VegetationFullRouteReview } from "../../core/laboratory/vegetationShadow";
+
+export function CanonicalVegetationRerunReplay({ resultId, review }: {
+  resultId: string;
+  review: VegetationFullRouteReview;
+}) {
+  return <CanonicalResultRerunReplay resultId={resultId} sessionId={review.sessionId}
+    initialPlaybackStartSeconds={review.timelineStartSeconds} semantics
+    resolveReplay={resolveCanonicalLabReplay} label="RAVNOVES004TREE · канонический повтор Rerun" />;
+}

apps/control-station/src/components/laboratory/LaboratoryPresentation.tsx

@@ -53,7 +53,7 @@ export const LABORATORY_REPORT_TEMPLATE_VERSION =
 
 const EXECUTION_LABELS: Record<LaboratoryExecutionClass, string> = {
   deterministic: "Детерминированный",
-  "ai-inference": "AI inference",
+  "ai-inference": "AI Inference",
   hybrid: "Гибридный",
 };
 

apps/control-station/src/components/laboratory/LaboratoryRecordedClipPlayer.tsx

@@ -59,6 +59,16 @@ export function laboratoryRecordedClipEndExclusiveNs(
   return last.sourceTimeNs + typicalDelta;
 }
 
+export function laboratoryRecordedClipClockGate(
+  pendingSequence: number | null,
+  observedSequence: number,
+): { accept: boolean; pendingSequence: number | null } {
+  if (pendingSequence !== null && pendingSequence !== observedSequence) {
+    return { accept: false, pendingSequence };
+  }
+  return { accept: true, pendingSequence: null };
+}
+
 export function LaboratoryRecordedClipPlayer({
   source,
   segmentCount,
@@ -94,7 +104,8 @@ export function LaboratoryRecordedClipPlayer({
 }) {
   const [companionSpatialSize, setCompanionSpatialSize] = useState(69);
   const lastEmittedSequenceRef = useRef(sequence);
-  lastEmittedSequenceRef.current = sequence;
+  const lastObservedSequenceRef = useRef<number | null>(sequence);
+  const pendingSequenceRef = useRef<number | null>(null);
   const frame = useMemo(
     () => frames.find((candidate) => candidate.sequence === sequence) ?? frames[0] ?? null,
     [frames, sequence],
@@ -113,23 +124,42 @@ export function LaboratoryRecordedClipPlayer({
     if (!continuousPlayback && playing) onPlayingChange(false);
   }, [continuousPlayback, onPlayingChange, playing]);
 
+  useEffect(() => {
+    if (lastObservedSequenceRef.current !== sequence) {
+      pendingSequenceRef.current = sequence;
+    }
+    lastEmittedSequenceRef.current = sequence;
+  }, [sequence]);
+
   const emitSequence = useCallback((nextSequence: number) => {
     if (lastEmittedSequenceRef.current === nextSequence) return;
     lastEmittedSequenceRef.current = nextSequence;
     onSequenceChange(nextSequence);
   }, [onSequenceChange]);
 
+  const requestSequence = useCallback((nextSequence: number) => {
+    pendingSequenceRef.current = nextSequence;
+    emitSequence(nextSequence);
+  }, [emitSequence]);
+
   const handlePlaybackChange = useCallback((next: RecordedObservationPlayback) => {
     const sourceTimeNs = Math.round(next.currentSeconds * 1_000_000_000);
     const first = frames[0];
     if (!first || endExclusiveNs === null) return;
     if (sourceTimeNs >= endExclusiveNs) {
-      emitSequence(first.sequence);
+      requestSequence(first.sequence);
       return;
     }
     const nearest = nearestLaboratoryRecordedClipFrame(frames, sourceTimeNs);
-    if (nearest) emitSequence(nearest.sequence);
-  }, [emitSequence, endExclusiveNs, frames]);
+    if (!nearest) return;
+    lastObservedSequenceRef.current = nearest.sequence;
+    const gate = laboratoryRecordedClipClockGate(
+      pendingSequenceRef.current,
+      nearest.sequence,
+    );
+    pendingSequenceRef.current = gate.pendingSequence;
+    if (gate.accept) emitSequence(nearest.sequence);
+  }, [emitSequence, endExclusiveNs, frames, requestSequence]);
 
   const timelineStart = frames[0]?.sourceTimeNs ?? 0;
   const timelineEnd = frames.at(-1)?.sourceTimeNs ?? timelineStart + 1;
@@ -142,7 +172,7 @@ export function LaboratoryRecordedClipPlayer({
       className="laboratory-recorded-clip-player__spatial"
       aria-hidden={cameraPresentation === "primary"}
     >
-      {cameraPresentation !== "primary" ? alternativeScene : null}
+      {alternativeScene}
     </div>
   );
   const cameraPane = (
@@ -202,7 +232,7 @@ export function LaboratoryRecordedClipPlayer({
         onPlayingChange={continuousPlayback ? onPlayingChange : undefined}
         onSeek={(timeNs) => {
           const nearest = nearestLaboratoryRecordedClipFrame(frames, timeNs);
-          if (nearest) emitSequence(nearest.sequence);
+          if (nearest) requestSequence(nearest.sequence);
         }}
         showJumpToEnd={false}
       />

apps/control-station/src/components/laboratory/PortableResultReplay.tsx

@@ -0,0 +1,51 @@
+import { GlassSurface } from "@nodedc/ui-react";
+import { CanonicalResultRerunReplay } from "./CanonicalResultRerunReplay";
+import { resolveCanonicalLabReplay } from "../../core/laboratory/canonicalLabReplay";
+import type { ObservatoryPortableResultReview } from "../../core/observatory/recordedRun";
+import type { ObservationSessionReplayLaunch } from "../../core/observation/sessionArchive";
+
+function resolvePortableTgsReplay(resultId: string, launch: ObservationSessionReplayLaunch,
+  options: { signal: AbortSignal }) {
+  return resolveCanonicalLabReplay(resultId, launch, { ...options, sourceKind: "portable-tgs" });
+}
+
+function resolvePortableSemanticReplay(resultId: string, launch: ObservationSessionReplayLaunch,
+  options: { signal: AbortSignal }) {
+  return resolveCanonicalLabReplay(resultId, launch, { ...options, sourceKind: "portable-semantic" });
+}
+
+function resolvePortableObjectReplay(resultId: string, launch: ObservationSessionReplayLaunch,
+  options: { signal: AbortSignal }) {
+  return resolveCanonicalLabReplay(resultId, launch, { ...options, sourceKind: "portable-objects" });
+}
+
+export function PortableResultReplay({
+  review,
+  label,
+}: {
+  review: ObservatoryPortableResultReview;
+  label?: string;
+}) {
+  const schema = review.resultDocument.schema_version;
+  const tgs = schema === "missioncore.recorded-tgs-costmap-review/v2";
+  const module = review.resultDocument.module;
+  const moduleId = module && typeof module === "object" && "module_id" in module
+    ? module.module_id : undefined;
+  const semantics = schema === "missioncore.recorded-eomt-ddrnet-review/v2"
+    || (schema === "missioncore.recorded-ai-layer-review/v1"
+      && (moduleId === "ddrnet" || moduleId === "eomt"));
+  const objects = schema === "missioncore.recorded-ai-layer-review/v1"
+    && (moduleId === "rf-detr" || moduleId === "object-distance");
+  if (!tgs && !semantics && !objects) return (
+    <GlassSurface className="observatory-replay-state" padding="lg">
+      <p role="alert">Сохранённый результат этого профиля пока не поддерживает визуальный разбор.</p>
+    </GlassSurface>
+  );
+  return <CanonicalResultRerunReplay key={review.resultId} resultId={review.resultId}
+      sessionId={review.sourceSessionId} portable costmap={tgs} semantics={semantics}
+      detections={objects}
+      moduleIds={typeof moduleId === "string" ? [moduleId] : []}
+      label={label}
+      resolveReplay={tgs ? resolvePortableTgsReplay
+        : objects ? resolvePortableObjectReplay : resolvePortableSemanticReplay} />;
+}

apps/control-station/src/components/laboratory/RecordedEvidenceVideoScene.tsx

@@ -1,8 +1,11 @@
+import { useEffect, useState } from "react";
+
 import {
   RecordedFmp4Player,
   type RecordedObservationPlayback,
 } from "../RecordedFmp4Player";
 import type { ObservationSourceDescriptor } from "../../core/runtime/contracts";
+import type { RecordedCameraAdmissionState } from "../../core/observation/recordedSessionAdmission";
 import {
   RecordedEvidenceBoxOverlay,
   type RecordedEvidenceBox,
@@ -25,6 +28,7 @@ export function RecordedEvidenceVideoScene({
   imageWidth,
   imageHeight,
   boxes,
+  overlaySeconds,
   semanticOverlay,
   pointCloudOverlay,
   ariaLabel,
@@ -33,12 +37,17 @@ export function RecordedEvidenceVideoScene({
   segmentCount,
   onPlaybackChange,
   onPlayingRejected,
+  onAdmissionChange,
+  playbackAuthority = "media",
+  playbackTransport = "segmented",
+  recoverTimestampStalls = false,
 }: {
   source: ObservationSourceDescriptor;
   playback: RecordedObservationPlayback;
   imageWidth: number;
   imageHeight: number;
   boxes: readonly RecordedEvidenceBox[];
+  overlaySeconds?: number;
   semanticOverlay?: RecordedEvidenceSemanticOverlay;
   pointCloudOverlay?: RecordedEvidencePointCloudOverlayData;
   ariaLabel: string;
@@ -47,7 +56,41 @@ export function RecordedEvidenceVideoScene({
   segmentCount?: number;
   onPlaybackChange?: (playback: RecordedObservationPlayback) => void;
   onPlayingRejected?: () => void;
+  onAdmissionChange?: (state: RecordedCameraAdmissionState) => void;
+  playbackAuthority?: "media" | "host";
+  playbackTransport?: "segmented" | "epoch-stream";
+  recoverTimestampStalls?: boolean;
 }) {
+  const generation = source.delivery?.kind === "recorded-fmp4-manifest"
+    ? source.delivery.manifestGenerationSha256
+    : "invalid";
+  const [admissionPhase, setAdmissionPhase] = useState<RecordedCameraAdmissionState["phase"]>(
+    "loading",
+  );
+  const [presentedSeconds, setPresentedSeconds] = useState<number | null>(null);
+  useEffect(() => {
+    setAdmissionPhase("loading");
+    setPresentedSeconds(null);
+  }, [generation, source.id]);
+  const handleAdmissionChange = (next: RecordedCameraAdmissionState) => {
+    setAdmissionPhase(next.phase);
+    onAdmissionChange?.(next);
+  };
+  const sourceReady = admissionPhase === "ready";
+  const overlaysPresented = sourceReady
+    && presentedSeconds !== null
+    && Math.abs(presentedSeconds - playback.currentSeconds) <= 0.25
+    && (overlaySeconds === undefined || Math.abs(presentedSeconds - overlaySeconds) <= 0.25);
+  const handlePlaybackChange = (next: RecordedObservationPlayback) => {
+    setPresentedSeconds(next.currentSeconds);
+    // During a paused operator seek the existing media element can emit its old
+    // timestamp while the requested MSE window is being rebuilt. That stale
+    // callback must not undo the host target before the decoder reaches it.
+    if (!playback.playing && Math.abs(next.currentSeconds - playback.currentSeconds) > 0.35) {
+      return;
+    }
+    onPlaybackChange?.(next);
+  };
   return (
     <div className="recorded-evidence-video-scene">
       <RecordedFmp4Player
@@ -57,29 +100,35 @@ export function RecordedEvidenceVideoScene({
         prepare
         segmentSequence={segmentSequence}
         segmentCount={segmentCount}
-        onPlaybackChange={onPlaybackChange}
+        onPlaybackChange={handlePlaybackChange}
         onPlayingRejected={onPlayingRejected}
+        onAdmissionChange={handleAdmissionChange}
+        playbackAuthority={playbackAuthority}
+        playbackTransport={playbackTransport}
+        recoverTimestampStalls={recoverTimestampStalls}
       />
-      {semanticOverlay ? (
+      {overlaysPresented && semanticOverlay ? (
         <RecordedEvidenceSemanticMaskOverlay
           {...semanticOverlay}
           imageWidth={imageWidth}
           imageHeight={imageHeight}
         />
       ) : null}
-      {pointCloudOverlay ? (
+      {overlaysPresented && pointCloudOverlay ? (
         <RecordedEvidencePointCloudOverlay
           imageWidth={imageWidth}
           imageHeight={imageHeight}
           overlay={pointCloudOverlay}
         />
       ) : null}
-      <RecordedEvidenceBoxOverlay
-        imageWidth={imageWidth}
-        imageHeight={imageHeight}
-        boxes={boxes}
-        ariaLabel={ariaLabel}
-      />
+      {overlaysPresented ? (
+        <RecordedEvidenceBoxOverlay
+          imageWidth={imageWidth}
+          imageHeight={imageHeight}
+          boxes={boxes}
+          ariaLabel={ariaLabel}
+        />
+      ) : null}
     </div>
   );
 }

apps/control-station/src/components/laboratory/useCanonicalRecordedLabSpatialFrame.ts

@@ -0,0 +1,116 @@
+import { useEffect, useRef, useState } from "react";
+
+import {
+  fetchCanonicalRecordedLabSpatialFrame,
+  type CanonicalRecordedLabSpatialFrame,
+} from "../../core/laboratory/canonicalRecordedLabSpatial";
+
+const FRAME_CACHE_LIMIT = 12;
+
+/**
+ * Shared latest-request-wins scheduler for recorded LAB spatial evidence.
+ *
+ * A feature supplies only the sealed session identity and host-clock time.
+ * Cache ownership, identity fencing and stale-response suppression remain in
+ * the canonical instrument instead of being reimplemented per experiment.
+ */
+export function useCanonicalRecordedLabSpatialFrame({
+  sessionId,
+  generationSha256,
+  targetTimeNs,
+}: {
+  sessionId: string;
+  generationSha256: string | null;
+  targetTimeNs: number;
+}) {
+  const [frame, setFrame] = useState<CanonicalRecordedLabSpatialFrame | null>(null);
+  const [error, setError] = useState<string | null>(null);
+  const desiredRef = useRef<number | null>(null);
+  const runningRef = useRef(false);
+  const mountedRef = useRef(true);
+  const identityRef = useRef("");
+  const cacheRef = useRef(new Map<number, CanonicalRecordedLabSpatialFrame>());
+  const pumpRef = useRef<() => void>(() => undefined);
+  const identity = `${sessionId}:${generationSha256 ?? "unavailable"}`;
+  identityRef.current = identity;
+
+  pumpRef.current = () => {
+    if (runningRef.current || desiredRef.current === null || !generationSha256) return;
+    runningRef.current = true;
+    const requestIdentity = identity;
+    let settledTimeNs: number | null = null;
+    void (async () => {
+      while (
+        mountedRef.current
+        && identityRef.current === requestIdentity
+        && desiredRef.current !== null
+      ) {
+        const requestedTimeNs = desiredRef.current;
+        const cached = cacheRef.current.get(requestedTimeNs);
+        try {
+          const next = cached ?? await fetchCanonicalRecordedLabSpatialFrame(
+            sessionId,
+            generationSha256,
+            requestedTimeNs,
+          );
+          if (!mountedRef.current || identityRef.current !== requestIdentity) break;
+          if (!cached) {
+            cacheRef.current.set(requestedTimeNs, next);
+            while (cacheRef.current.size > FRAME_CACHE_LIMIT) {
+              const oldest = cacheRef.current.keys().next().value as number | undefined;
+              if (oldest === undefined) break;
+              cacheRef.current.delete(oldest);
+            }
+          }
+          setFrame(next);
+          setError(null);
+        } catch (caught: unknown) {
+          if (!mountedRef.current || identityRef.current !== requestIdentity) break;
+          setError(caught instanceof Error
+            ? caught.message
+            : "Spatial-слои записанной LAB недоступны.");
+        }
+        settledTimeNs = requestedTimeNs;
+        if (desiredRef.current === requestedTimeNs) break;
+      }
+    })().finally(() => {
+      runningRef.current = false;
+      if (
+        mountedRef.current
+        && desiredRef.current !== null
+        && (identityRef.current !== requestIdentity || desiredRef.current !== settledTimeNs)
+      ) {
+        pumpRef.current();
+      }
+    });
+  };
+
+  useEffect(() => {
+    mountedRef.current = true;
+    return () => {
+      mountedRef.current = false;
+      desiredRef.current = null;
+    };
+  }, []);
+
+  useEffect(() => {
+    cacheRef.current.clear();
+    desiredRef.current = null;
+    setFrame(null);
+    setError(null);
+  }, [identity]);
+
+  useEffect(() => {
+    if (!generationSha256) return;
+    desiredRef.current = targetTimeNs;
+    const cached = cacheRef.current.get(targetTimeNs);
+    if (cached) {
+      setFrame(cached);
+      setError(null);
+      return;
+    }
+    pumpRef.current();
+  }, [generationSha256, identity, targetTimeNs]);
+
+  return { frame, error, loading: Boolean(generationSha256) && !frame && !error };
+}

apps/control-station/src/components/laboratory/useRecordedEvidencePlayback.ts

@@ -130,8 +130,12 @@ export function useRecordedEvidencePlayback(
 
   const synchronize = useCallback((next: RecordedObservationPlayback) => {
     if (!validRange(range) || !Number.isFinite(next.currentSeconds)) return;
+    // Animation-clock mode is retained only for non-media diagnostics. A
+    // recorded LAB with video uses the external media clock so spatial and
+    // overlays never advance past the frame the decoder actually presented.
+    if (clock === "animation") return;
     setPlayback((current) => synchronizeRecordedEvidencePlayback(current, next, range));
-  }, [range]);
+  }, [clock, range]);
 
   return useMemo(() => ({
     playback,

apps/control-station/src/components/observatory/AIConfigurationWindow.tsx

@@ -0,0 +1,261 @@
+import { useEffect, useMemo, useState } from "react";
+import {
+  ActivityIndicator,
+  Button,
+  FieldFrame,
+  Select,
+  StatusBadge,
+  Window,
+  WindowFooterActions,
+} from "@nodedc/ui-react";
+
+import {
+  aiModuleIdForSetup,
+  fetchAIModuleCatalog,
+  fetchAICompositionRuns,
+  fetchAICompositionJobs,
+  saveAIComposition,
+  type AICompositionReceipt,
+  type AICompositionRun,
+  type AIGroupId,
+  type AIModuleCatalog,
+} from "../../core/observatory/aiComposition";
+import type { ObservatoryRecordedJob } from "../../core/observatory/recordedJobs";
+
+const groups: readonly { id: AIGroupId; label: string; description: string }[] = [
+  { id: "segmentation", label: "Сегментация", description: "Пиксельные маски сцены" },
+  { id: "detection", label: "Объекты", description: "Рамки и классы объектов" },
+  { id: "geometry", label: "Облако точек / TGS", description: "Опорная поверхность и карта проходимости" },
+  { id: "range", label: "Дистанция", description: "Расстояния до объектов" },
+  { id: "motion", label: "Движение", description: "Треки и динамика объектов" },
+  { id: "policy", label: "Политика", description: "Теневые правила интерпретации" },
+];
+
+export function AIConfigurationWindow({
+  open, sourceSessionId, sourceLabel, onClose, onCalculated,
+}: {
+  readonly open: boolean;
+  readonly sourceSessionId: string;
+  readonly sourceLabel: string;
+  readonly onClose: () => void;
+  readonly onCalculated: (receipt: AICompositionReceipt) => void;
+}) {
+  const [catalog, setCatalog] = useState<AIModuleCatalog | null>(null);
+  const [existingJobs, setExistingJobs] = useState<readonly ObservatoryRecordedJob[]>([]);
+  const [existingRuns, setExistingRuns] = useState<readonly AICompositionRun[]>([]);
+  const [selected, setSelected] = useState<Partial<Record<AIGroupId, string>>>({});
+  const [state, setState] = useState<"idle" | "loading" | "ready" | "saving" | "error">("idle");
+  const [message, setMessage] = useState<string | null>(null);
+
+  useEffect(() => {
+    if (!open) return;
+    const request = new AbortController();
+    setState("loading");
+    setMessage(null);
+    void Promise.all([
+      fetchAIModuleCatalog(request.signal),
+      fetchAICompositionJobs(sourceSessionId, request.signal),
+      fetchAICompositionRuns(sourceSessionId, request.signal),
+    ]).then(([value, jobs, runs]) => {
+      if (request.signal.aborted) return;
+      setCatalog(value);
+      setExistingJobs(jobs);
+      setExistingRuns(runs);
+      setSelected({});
+      setState("ready");
+    }).catch((error: unknown) => {
+      if (request.signal.aborted) return;
+      setMessage(error instanceof Error ? error.message : "Каталог AI-модулей недоступен.");
+      setState("error");
+    });
+    return () => request.abort();
+  }, [open, sourceSessionId]);
+
+  const existingByModule = useMemo(() => {
+    const result = new Map<string, ObservatoryRecordedJob>();
+    for (const job of existingJobs) {
+      if (job.state === "failed" || job.publication.state === "failed") continue;
+      const moduleId = aiModuleIdForSetup(job.setupId);
+      if (moduleId && !result.has(moduleId)) result.set(moduleId, job);
+    }
+    return result;
+  }, [existingJobs]);
+
+  const selections = useMemo(() => groups.flatMap(({ id }) => {
+    const moduleId = selected[id];
+    const module = catalog?.groups.find((item) => item.group === id)?.modules.find(
+      (item) => item.moduleId === moduleId,
+    );
+    return module ? [{ group: id, module }] : [];
+  }), [catalog, selected]);
+
+  const selectedModuleIds = useMemo(
+    () => selections.map(({ module }) => module.moduleId).sort(),
+    [selections],
+  );
+  const matchingRun = useMemo(() => existingRuns.find((run) => (
+    run.state !== "failed"
+    && [...run.moduleIds].sort().join("\0") === selectedModuleIds.join("\0")
+  )), [existingRuns, selectedModuleIds]);
+  const configurationAlreadyExists = selections.length > 0 && matchingRun !== undefined;
+  const configurationIsRunning = matchingRun?.state === "running";
+
+  function selectModule(group: AIGroupId, moduleId: string): void {
+    if (!catalog) return;
+    setSelected((current) => {
+      const next = { ...current, [group]: moduleId === "none" ? undefined : moduleId };
+      const modules = catalog.groups.flatMap((item) => item.modules);
+      const selectedIds = new Set(Object.values(next).filter((value): value is string => Boolean(value)));
+      if (moduleId !== "none") {
+        const module = modules.find((item) => item.moduleId === moduleId);
+        for (const requirement of module?.requires ?? []) {
+          if (requirement.startsWith("source.")) continue;
+          if (modules.some((item) => selectedIds.has(item.moduleId) && item.provides.includes(requirement))) {
+            continue;
+          }
+          const providers = modules.filter((item) => item.provides.includes(requirement));
+          if (providers.length === 1) {
+            const providerGroup = catalog.groups.find((item) => item.modules.some(
+              (candidate) => candidate.moduleId === providers[0]?.moduleId,
+            ))?.group;
+            if (providerGroup) {
+              next[providerGroup] = providers[0]?.moduleId;
+              selectedIds.add(providers[0]?.moduleId ?? "");
+            }
+          }
+        }
+      } else {
+        let changed = true;
+        while (changed) {
+          changed = false;
+          const capabilities = new Set(modules.filter((item) => Object.values(next).includes(item.moduleId))
+            .flatMap((item) => item.provides));
+          for (const item of modules.filter((candidate) => Object.values(next).includes(candidate.moduleId))) {
+            if (item.requires.some((requirement) => !requirement.startsWith("source.") && !capabilities.has(requirement))) {
+              const dependentGroup = catalog.groups.find((candidate) => candidate.modules.some(
+                (module) => module.moduleId === item.moduleId,
+              ))?.group;
+              if (dependentGroup) {
+                next[dependentGroup] = undefined;
+                changed = true;
+              }
+            }
+          }
+        }
+      }
+      return next;
+    });
+    setMessage(null);
+    if (state === "error") setState("ready");
+  }
+
+  async function calculate(): Promise<void> {
+    if (selections.length === 0 || state === "saving") return;
+    if (configurationAlreadyExists) {
+      setMessage("Эта конфигурация уже рассчитана. Выберите другую конфигурацию.");
+      return;
+    }
+    setState("saving");
+    setMessage(null);
+    try {
+      const receipt = await saveAIComposition(sourceSessionId, selections);
+      onCalculated(receipt);
+      onClose();
+    } catch (error) {
+      setMessage(error instanceof Error ? error.message : "Не удалось запустить расчёт.");
+      setState("error");
+    }
+  }
+
+  return <Window
+    open={open}
+    className="observatory-ai-config-window"
+    title="Сконфигурировать AI-слой"
+    subtitle={sourceLabel}
+    size="lg"
+    closeOnBackdrop={state !== "saving"}
+    closeOnEscape={state !== "saving"}
+    onClose={onClose}
+    footer={<WindowFooterActions>
+      {configurationAlreadyExists ? (
+        <span className="observatory-ai-config__duplicate" role="status">
+          {configurationIsRunning
+            ? "Текущая конфигурация уже рассчитывается."
+            : "Текущая конфигурация уже рассчитана."}
+        </span>
+      ) : null}
+      <Button
+        variant="primary"
+        className={state === "saving" ? "observatory-ai-config__calculate--saving" : undefined}
+        disabled={state !== "ready" || selections.length === 0 || configurationAlreadyExists}
+        aria-busy={state === "saving"}
+        onClick={() => void calculate()}
+      >
+        {state === "saving" ? "Отправляем на Worker…" : "Рассчитать"}
+      </Button>
+    </WindowFooterActions>}
+  >
+    <div className="observatory-ai-config" aria-busy={state === "loading" || state === "saving"}>
+      <p className="observatory-ai-config__lead">
+        Выберите модуль в каждом нужном слое. Зависимые блоки подключаются явно в этой конфигурации.
+      </p>
+      {state === "loading" ? <ActivityIndicator label="Загружаем AI-модули" /> : null}
+      {catalog ? groups.map(({ id, label, description }) => {
+        const modules = catalog.groups.find((item) => item.group === id)?.modules ?? [];
+        const selectedModule = modules.find((item) => item.moduleId === selected[id]);
+        const selectedExisting = selectedModule
+          ? existingByModule.get(selectedModule.moduleId)
+          : undefined;
+        const allCalculated = modules.length > 0 && modules.every(
+          (module) => existingByModule.has(module.moduleId),
+        );
+        return <section className="observatory-ai-module-group" key={id}>
+          <header>
+            <div>
+              <strong>{label}</strong>
+              <span>{description}</span>
+            </div>
+            <StatusBadge tone={selectedModule ? "accent" : "neutral"}>
+              {selectedExisting
+                ? selectedExisting.state === "succeeded" ? "Уже рассчитано" : "В расчёте"
+                : selectedModule?.label ?? (allCalculated
+                ? "Результат доступен"
+                : modules.length ? "Не используется" : "Не установлен")}
+            </StatusBadge>
+          </header>
+          <div className="observatory-ai-module-group__body">
+            <FieldFrame
+              label={`Модуль: ${label}`}
+              description={modules.length
+                ? allCalculated
+                  ? "Готовый результат можно включить в новую конфигурацию без повторного расчёта."
+                  : id === "segmentation"
+                  ? "DDRNet и EoMT — независимые альтернативы; выберите одну модель."
+                  : id === "range"
+                    ? "Дистанция использует рамки детектора и синхронное облако точек."
+                    : id === "geometry"
+                      ? "TGS обрабатывает LiDAR независимо от сегментации и детектора."
+                      : "Связи с другими блоками определяются входами выбранного модуля."
+                : "Для этого слоя на Worker 006 пока нет установленного модуля."}
+            >
+              <Select
+                label={`Выбрать модуль: ${label}`}
+                value={selected[id] ?? "none"}
+                options={[{ value: "none", label: "Не использовать" }, ...modules.map((module) => ({
+                  value: module.moduleId,
+                  label: module.label,
+                  description: existingByModule.has(module.moduleId)
+                    ? "Готовый результат будет использован без повторного расчёта"
+                    : module.dockerName,
+                }))]}
+                disabled={modules.length === 0 || state === "saving"}
+                onChange={(value) => selectModule(id, value)}
+              />
+            </FieldFrame>
+          </div>
+        </section>;
+      }) : null}
+      {message ? <p className="observatory-ai-config__error" role="alert">{message}</p> : null}
+    </div>
+  </Window>;
+}

apps/control-station/src/components/rerun/isolatedRerunEntry.ts

@@ -0,0 +1,10 @@
+import { WebViewer } from "@rerun-io/web-viewer";
+
+import type { RerunFrameWindow } from "./recordedRerunProtocol";
+import { createRecordedRerunOwner } from "./recordedRerunOwner";
+
+// This entry is loaded only in the owned iframe. Upstream code is unmodified;
+// destroying the frame also ends its timers, WASM, video and WebGPU lifetime.
+const mount = document.getElementById("viewer");
+if (!mount) throw new Error("Recorded viewer mount is missing");
+(window as RerunFrameWindow).missionCoreRerun = createRecordedRerunOwner(() => new WebViewer(), mount);

apps/control-station/src/components/rerun/isolatedRerunHost.ts

@@ -0,0 +1,77 @@
+import { createRecordedRerunFacade, type RecordedRerunViewer } from "./recordedRerunFacade";
+import type { RerunFrameWindow } from "./recordedRerunProtocol";
+import { relayIsolatedRerunInput } from "./isolatedRerunInput";
+
+/** Own the complete recorded-viewer realm, not just its canvas or SDK handle. */
+export function createIsolatedRerunHost(host: HTMLElement) {
+  let frame: HTMLIFrameElement | null = host.ownerDocument.createElement("iframe");
+  frame.title = "Синхронизированная запись";
+  frame.className = "rerun-viewport__runtime";
+  frame.src = "/rerun-runtime.html";
+  let disposed = false;
+  let releaseFacade: (() => void) | null = null;
+  let releaseInput: (() => void) | null = null;
+  let frameWindow: RerunFrameWindow | null = null;
+  let rejectReady: ((reason: Error) => void) | null = null;
+  let timer: ReturnType<typeof setTimeout> | undefined;
+
+  const dispose = () => {
+    if (disposed) return;
+    disposed = true;
+    clearTimeout(timer);
+    frame!.onload = null;
+    frame!.onerror = null;
+    releaseInput?.();
+    releaseInput = null;
+    try {
+      releaseFacade?.();
+    } catch {
+      // Realm teardown is required even if a partial native start failed.
+    } finally {
+      releaseFacade = null;
+      frameWindow = null;
+      frame!.remove();
+      frame = null;
+      rejectReady?.(new Error("Recorded viewer was disposed"));
+      rejectReady = null;
+    }
+  };
+
+  const ready = new Promise<{ viewer: RecordedRerunViewer; mount: HTMLElement }>((resolve, reject) => {
+    rejectReady = reject;
+    frame!.onload = () => {
+      if (disposed) return;
+      try {
+        frameWindow = frame!.contentWindow as RerunFrameWindow | null;
+        const api = frameWindow?.missionCoreRerun;
+        if (!api || api.version !== 2) throw new Error("Recorded viewer host is unavailable");
+        const owner = createRecordedRerunFacade((request, bytes) => {
+          const current = frameWindow?.missionCoreRerun;
+          if (!current) throw new Error("Recorded viewer was disposed");
+          return current.invoke(request, bytes);
+        });
+        releaseFacade = owner.dispose;
+        api.connect(owner.notify);
+        releaseInput = relayIsolatedRerunInput(host, frameWindow, frame);
+        clearTimeout(timer);
+        rejectReady = null;
+        frame!.onload = null;
+        frame!.onerror = null;
+        resolve({ viewer: owner.facade, mount: host });
+      } catch (error) {
+        reject(new Error(String(error)));
+        dispose();
+      }
+    };
+    frame!.onerror = () => {
+      reject(new Error("Recorded viewer host failed to load"));
+      dispose();
+    };
+    timer = setTimeout(() => {
+      reject(new Error("Recorded viewer host timed out"));
+      dispose();
+    }, 30_000);
+  });
+  host.append(frame);
+  return { ready, dispose };
+}

apps/control-station/src/components/rerun/isolatedRerunInput.ts

@@ -0,0 +1,17 @@
+/** Relay Escape from the isolated viewer realm to the owning application. */
+export function relayIsolatedRerunInput(
+  host: HTMLElement,
+  frameWindow: Window | null,
+  _frame: HTMLIFrameElement | null,
+) {
+  const parent = host.ownerDocument.defaultView;
+  const escape = (event: KeyboardEvent) => {
+    if (event.key !== "Escape" || event.defaultPrevented || !parent) return;
+    host.dispatchEvent(new parent.KeyboardEvent("keydown", { key: "Escape", bubbles: true }));
+  };
+  frameWindow?.addEventListener("keydown", escape);
+  return () => {
+    frameWindow?.removeEventListener("keydown", escape);
+    frameWindow = null;
+  };
+}

apps/control-station/src/components/rerun/recordedRerunCameraJournal.ts

@@ -0,0 +1,244 @@
+export type RecordedRerunCameraEye = {
+  readonly position: readonly [number, number, number];
+  readonly lookTarget: readonly [number, number, number];
+  readonly eyeUp: readonly [number, number, number];
+};
+
+type Vector3 = [number, number, number];
+type DragMode = "rotate" | "pan" | "roll";
+
+const ROTATION_RADIANS_PER_POINT = 0.004;
+const RERUN_WEB_LINE_SCROLL_POINTS = 8;
+const RERUN_ORBITAL_SCROLL_DIVISOR = 200;
+const RERUN_WEB_PINCH_SCROLL_DIVISOR = 100;
+const RERUN_MIN_ORBIT_DISTANCE = 0.02;
+const DOM_WHEEL_DELTA_LINE = 1;
+const DOM_WHEEL_DELTA_PAGE = 2;
+
+export const RECORDED_RERUN_ORBITAL_EYE: RecordedRerunCameraEye = {
+  position: [16, -16, 18],
+  lookTarget: [0, 0, 0],
+  eyeUp: [0, 0, 1],
+};
+
+export const RECORDED_RERUN_PLAN_EYE: RecordedRerunCameraEye = {
+  position: [0, 0, 30],
+  lookTarget: [0, 0, 0],
+  eyeUp: [0, 1, 0],
+};
+
+const vector = (value: readonly [number, number, number]): Vector3 => [...value];
+const add = (a: Vector3, b: Vector3): Vector3 => [a[0] + b[0], a[1] + b[1], a[2] + b[2]];
+const subtract = (a: Vector3, b: Vector3): Vector3 => [a[0] - b[0], a[1] - b[1], a[2] - b[2]];
+const scale = (value: Vector3, factor: number): Vector3 => [value[0] * factor, value[1] * factor, value[2] * factor];
+const dot = (a: Vector3, b: Vector3) => a[0] * b[0] + a[1] * b[1] + a[2] * b[2];
+const cross = (a: Vector3, b: Vector3): Vector3 => [
+  a[1] * b[2] - a[2] * b[1],
+  a[2] * b[0] - a[0] * b[2],
+  a[0] * b[1] - a[1] * b[0],
+];
+const length = (value: Vector3) => Math.hypot(...value);
+const normalize = (value: Vector3, fallback: Vector3): Vector3 => {
+  const magnitude = length(value);
+  return magnitude > Number.EPSILON ? scale(value, 1 / magnitude) : fallback;
+};
+const clamp = (value: number, minimum: number, maximum: number) => Math.max(minimum, Math.min(maximum, value));
+const rotateAroundAxis = (value: Vector3, rawAxis: Vector3, angle: number): Vector3 => {
+  const axis = normalize(rawAxis, [0, 0, 1]);
+  const cosine = Math.cos(angle);
+  const sine = Math.sin(angle);
+  return add(
+    add(scale(value, cosine), scale(cross(axis, value), sine)),
+    scale(axis, dot(axis, value) * (1 - cosine)),
+  );
+};
+
+function cloneEye(value: RecordedRerunCameraEye): {
+  position: Vector3;
+  lookTarget: Vector3;
+  eyeUp: Vector3;
+} {
+  return {
+    position: vector(value.position),
+    lookTarget: vector(value.lookTarget),
+    eyeUp: vector(value.eyeUp),
+  };
+}
+
+/**
+ * Mirrors Rerun 0.36.3's orbital eye math while the native viewer remains the
+ * renderer. Rerun writes operator navigation into its active blueprint clone;
+ * the WebViewer API cannot read that clone. Keeping the same three eye vectors
+ * here lets a later layer blueprint activate with the exact operator pose.
+ */
+export function createRecordedRerunCameraJournal(
+  canvas: HTMLCanvasElement,
+  scope: Window & typeof globalThis,
+) {
+  let eye = cloneEye(RECORDED_RERUN_ORBITAL_EYE);
+  let spatialViewportStart = 0;
+  let pointerId: number | null = null;
+  let dragMode: DragMode | null = null;
+  let previousPointer: readonly [number, number] | null = null;
+  let latestPointer: readonly [number, number] | null = null;
+  let maxOrbitalRadius = 1.0e17;
+
+  const isSpatialPoint = (event: MouseEvent) => {
+    const rect = canvas.getBoundingClientRect();
+    return rect.width > 0 && (event.clientX - rect.left) / rect.width >= spatialViewportStart;
+  };
+  const forward = () => normalize(subtract(eye.lookTarget, eye.position), [0, 1, 0]);
+  const usableUp = () => {
+    const fwd = forward();
+    const fallbackRight: Vector3 = Math.abs(dot(fwd, [0, 0, 1])) > 0.9999
+      ? [1, 0, 0]
+      : cross(fwd, [0, 0, 1]);
+    const fallback = normalize(cross(fwd, fallbackRight), [0, 0, 1]);
+    const candidate = normalize(eye.eyeUp, fallback);
+    return Math.abs(dot(candidate, fwd)) > 0.9999 ? fallback : candidate;
+  };
+  const orbitRadius = () => length(subtract(eye.position, eye.lookTarget));
+
+  const rotate = (deltaX: number, deltaY: number) => {
+    const radius = orbitRadius();
+    const up = usableUp();
+    let fwd = forward();
+    const oldPitch = Math.asin(clamp(dot(fwd, up), -1, 1));
+    fwd = normalize(
+      rotateAroundAxis(fwd, up, -ROTATION_RADIANS_PER_POINT * deltaX),
+      fwd,
+    );
+    const right = normalize(cross(fwd, up), [1, 0, 0]);
+    const maxPitch = 0.99 * Math.PI / 2;
+    const nextPitch = clamp(
+      oldPitch - ROTATION_RADIANS_PER_POINT * deltaY,
+      -maxPitch,
+      maxPitch,
+    );
+    fwd = normalize(rotateAroundAxis(fwd, right, nextPitch - oldPitch), fwd);
+    eye.position = subtract(eye.lookTarget, scale(fwd, radius));
+  };
+
+  const pan = (deltaX: number, deltaY: number) => {
+    const fwd = forward();
+    const right = normalize(cross(fwd, usableUp()), [1, 0, 0]);
+    const screenUp = normalize(cross(right, fwd), [0, 0, 1]);
+    const speed = 0.001 * orbitRadius();
+    const translation = add(scale(right, -deltaX * speed), scale(screenUp, deltaY * speed));
+    eye.position = add(eye.position, translation);
+    eye.lookTarget = add(eye.lookTarget, translation);
+  };
+
+  const roll = (event: PointerEvent, deltaX: number, deltaY: number) => {
+    const rect = canvas.getBoundingClientRect();
+    const left = rect.left + rect.width * spatialViewportStart;
+    const centerX = left + (rect.right - left) / 2;
+    const centerY = rect.top + rect.height / 2;
+    const relativeX = event.clientX - centerX;
+    const relativeY = event.clientY - centerY;
+    const divisor = relativeX * relativeX + relativeY * relativeY;
+    if (divisor <= Number.EPSILON) return;
+    const angle = (-deltaY * relativeX + deltaX * relativeY) / divisor;
+    eye.eyeUp = normalize(rotateAroundAxis(eye.eyeUp, scale(forward(), -1), angle), eye.eyeUp);
+  };
+
+  const pointerDown = (event: PointerEvent) => {
+    latestPointer = [event.clientX, event.clientY];
+    if (!isSpatialPoint(event)) return;
+    pointerId = event.pointerId;
+    previousPointer = [event.clientX, event.clientY];
+    dragMode = event.button === 2 ? "pan" : event.button === 1 || event.altKey ? "roll" : "rotate";
+  };
+  const pointerMove = (event: PointerEvent) => {
+    latestPointer = [event.clientX, event.clientY];
+    if (event.pointerId !== pointerId || !previousPointer || !dragMode) return;
+    const deltaX = event.clientX - previousPointer[0];
+    const deltaY = event.clientY - previousPointer[1];
+    previousPointer = [event.clientX, event.clientY];
+    if (dragMode === "rotate") rotate(deltaX, deltaY);
+    else if (dragMode === "pan") pan(deltaX, deltaY);
+    else roll(event, deltaX, deltaY);
+  };
+  const pointerEnd = (event: PointerEvent) => {
+    if (event.pointerId !== pointerId) return;
+    pointerMove(event);
+    pointerId = null;
+    previousPointer = null;
+    dragMode = null;
+  };
+  const wheel = (event: WheelEvent) => {
+    const rect = canvas.getBoundingClientRect();
+    const wheelX = event.clientX >= rect.left && event.clientX <= rect.right
+      ? event.clientX
+      : latestPointer?.[0];
+    if (wheelX === undefined || rect.width <= 0) return;
+    if ((wheelX - rect.left) / rect.width < spatialViewportStart) return;
+    const unitMultiplier = event.deltaMode === DOM_WHEEL_DELTA_LINE
+      ? RERUN_WEB_LINE_SCROLL_POINTS
+      : event.deltaMode === DOM_WHEEL_DELTA_PAGE
+        ? rect.height
+        : 1;
+    const scrollPoints = (event.deltaX + event.deltaY) * unitMultiplier;
+    // eframe negates the DOM delta before Rerun applies
+    // radius / exp(smooth_scroll_delta / 200). Over a smoothed gesture the
+    // exponent products collapse to the raw accumulated DOM delta below.
+    const divisor = event.ctrlKey
+      ? RERUN_WEB_PINCH_SCROLL_DIVISOR
+      : RERUN_ORBITAL_SCROLL_DIVISOR;
+    const radiusFactor = Math.exp(scrollPoints / divisor);
+    const offset = subtract(eye.position, eye.lookTarget);
+    const radius = length(offset);
+    // Keep the same orbital bounds as Rerun 0.36.3. An eye already outside
+    // the scene-derived cap is allowed to stay there and is never snapped in.
+    const nextRadius = clamp(
+      radius * radiusFactor,
+      RERUN_MIN_ORBIT_DISTANCE,
+      Math.max(radius, maxOrbitalRadius),
+    );
+    eye.position = add(
+      eye.lookTarget,
+      scale(offset, nextRadius / Math.max(radius, Number.EPSILON)),
+    );
+  };
+
+  canvas.addEventListener("pointerdown", pointerDown, true);
+  scope.addEventListener("pointermove", pointerMove, true);
+  scope.addEventListener("pointerup", pointerEnd, true);
+  scope.addEventListener("pointercancel", pointerEnd, true);
+  scope.addEventListener("wheel", wheel, { capture: true, passive: true });
+
+  return {
+    current(): RecordedRerunCameraEye {
+      return {
+        position: [...eye.position],
+        lookTarget: [...eye.lookTarget],
+        eyeUp: [...eye.eyeUp],
+      };
+    },
+    configure(nextEye: RecordedRerunCameraEye, nextSpatialViewportStart: number) {
+      eye = cloneEye(nextEye);
+      spatialViewportStart = clamp(nextSpatialViewportStart, 0, 0.9);
+      pointerId = null;
+      dragMode = null;
+      previousPointer = null;
+    },
+    setSpatialViewportStart(nextSpatialViewportStart: number) {
+      spatialViewportStart = clamp(nextSpatialViewportStart, 0, 0.9);
+    },
+    setMaxOrbitalRadius(nextMaxOrbitalRadius: number) {
+      if (
+        Number.isFinite(nextMaxOrbitalRadius) &&
+        nextMaxOrbitalRadius >= RERUN_MIN_ORBIT_DISTANCE
+      ) {
+        maxOrbitalRadius = nextMaxOrbitalRadius;
+      }
+    },
+    dispose() {
+      canvas.removeEventListener("pointerdown", pointerDown, true);
+      scope.removeEventListener("pointermove", pointerMove, true);
+      scope.removeEventListener("pointerup", pointerEnd, true);
+      scope.removeEventListener("pointercancel", pointerEnd, true);
+      scope.removeEventListener("wheel", wheel, true);
+    },
+  };
+}

apps/control-station/src/components/rerun/recordedRerunFacade.ts

@@ -0,0 +1,105 @@
+import type { WebViewer } from "@rerun-io/web-viewer";
+import type { RerunInvoke } from "./recordedRerunProtocol";
+import type { RecordedRerunCameraEye } from "./recordedRerunCameraJournal";
+
+type NativeChannel = ReturnType<WebViewer["open_channel"]>;
+type Channel = Pick<NativeChannel, "ready" | "send_rrd" | "close">;
+export type RecordedRerunViewer = Pick<WebViewer,
+  "start" | "stop" | "ready" | "on" | "open" | "close" | "override_panel_state" |
+  "get_active_recording_id" | "get_active_timeline" | "get_current_time" |
+  "get_playing" | "get_time_range" | "set_active_timeline" |
+  "set_current_time" | "set_playing"
+> & {
+  open_channel: (name?: string) => Channel;
+  configure_camera_journal: (eye: RecordedRerunCameraEye, spatialViewportStart: number) => void;
+  get_camera_eye: () => RecordedRerunCameraEye;
+  set_camera_viewport_start: (spatialViewportStart: number) => void;
+  set_camera_max_orbital_radius: (maxOrbitalRadius: number) => void;
+};
+
+/** Parent-owned values only. No SDK Promise or foreign prototype escapes. */
+export function createRecordedRerunFacade(invoke: RerunInvoke | null) {
+  let nextId = 0;
+  const callbacks = new Map<number, (...args: unknown[]) => void>();
+  const starts = new Map<number, { resolve: () => void; reject: (error: Error) => void }>();
+  const command = (method: string, args: unknown[] = [], id?: number, bytes?: Uint8Array) => {
+    if (!invoke) throw new Error("Recorded viewer was disposed");
+    const response = JSON.parse(invoke(JSON.stringify({ method, args, id }), bytes));
+    if (response.error) throw new Error(response.error);
+    return response.result;
+  };
+  const dispose = () => {
+    callbacks.clear();
+    for (const pending of starts.values()) pending.reject(new Error("Recorded viewer was disposed"));
+    starts.clear();
+    try { if (invoke) command("stop"); } finally { invoke = null; }
+  };
+  const notify = (message: string) => {
+    if (!invoke) return;
+    const event = JSON.parse(message);
+    if (event.type === "event") callbacks.get(event.id)?.(...event.values);
+    else {
+      const pending = starts.get(event.id);
+      starts.delete(event.id);
+      if (event.type === "started") pending?.resolve();
+      else pending?.reject(new Error(event.message));
+    }
+  };
+  const facade: RecordedRerunViewer = {
+    get ready() { return invoke ? command("ready") : false; },
+    start(source, _parent, options) {
+      return new Promise<void>((resolve, reject) => {
+        const id = ++nextId;
+        starts.set(id, { resolve, reject });
+        try { command("start", [source, options], id); }
+        catch (error) { starts.delete(id); reject(error); }
+      });
+    },
+    stop: dispose,
+    on: ((event: string, callback: (...args: unknown[]) => void) => {
+      const id = ++nextId;
+      callbacks.set(id, callback);
+      try { command("on", [event], id); }
+      catch (error) { callbacks.delete(id); throw error; }
+      return () => {
+        if (callbacks.delete(id) && invoke) command("off", [], id);
+      };
+    }) as WebViewer["on"],
+    open_channel(name) {
+      const id = ++nextId;
+      command("channel-open", name === undefined ? [] : [name], id);
+      let closed = false;
+      return {
+        get ready() { return !closed && invoke ? command("channel-ready", [], id) : false; },
+        send_rrd(bytes) { if (!closed && invoke) command("channel-send", [], id, bytes); },
+        close() {
+          if (closed) return;
+          closed = true;
+          if (invoke) command("channel-close", [], id);
+        },
+      };
+    },
+    open: (...args) => command("open", args),
+    close: (...args) => { if (invoke) command("close", args); },
+    override_panel_state: (...args) => command("override_panel_state", args),
+    get_active_recording_id: () => command("get_active_recording_id"),
+    get_active_timeline: (...args) => command("get_active_timeline", args),
+    get_current_time: (...args) => command("get_current_time", args),
+    get_playing: (...args) => command("get_playing", args),
+    get_time_range: (...args) => command("get_time_range", args),
+    set_active_timeline: (...args) => command("set_active_timeline", args),
+    set_current_time: (...args) => command("set_current_time", args),
+    set_playing: (...args) => command("set_playing", args),
+    configure_camera_journal: (eye, spatialViewportStart) => command(
+      "configure-camera-journal", [eye, spatialViewportStart],
+    ),
+    get_camera_eye: () => command("get-camera-eye"),
+    set_camera_viewport_start: (spatialViewportStart) => command(
+      "set-camera-viewport-start", [spatialViewportStart],
+    ),
+    set_camera_max_orbital_radius: (maxOrbitalRadius) => command(
+      "set-camera-max-orbital-radius", [maxOrbitalRadius],
+    ),
+  };
+  return { facade, dispose, notify };
+}

apps/control-station/src/components/rerun/recordedRerunOwner.ts

@@ -0,0 +1,115 @@
+import type { WebViewer } from "@rerun-io/web-viewer";
+import type { RerunFrameApi, RerunNotify } from "./recordedRerunProtocol";
+import { createRecordedRerunCameraJournal } from "./recordedRerunCameraJournal";
+
+/** Lives entirely inside the disposable iframe, including pending SDK starts. */
+export function createRecordedRerunOwner(create: () => WebViewer, mount: HTMLElement): RerunFrameApi {
+  let native: WebViewer | null = null;
+  let notify: RerunNotify | null = null;
+  const subscriptions = new Map<number, () => void>();
+  const channels = new Map<number, ReturnType<WebViewer["open_channel"]>>();
+  let cameraJournal: ReturnType<typeof createRecordedRerunCameraJournal> | null = null;
+  const send = (message: object) => notify?.(JSON.stringify(message));
+  const stop = () => {
+    notify = null;
+    for (const unsubscribe of subscriptions.values()) {
+      try { unsubscribe(); } catch { /* Continue partial-start cleanup. */ }
+    }
+    subscriptions.clear();
+    for (const channel of channels.values()) {
+      try { channel.close(); } catch { /* Other channels must still close. */ }
+    }
+    channels.clear();
+    cameraJournal?.dispose();
+    cameraJournal = null;
+    const current = native;
+    native = null;
+    try { current?.stop(); } catch { /* Realm teardown remains authoritative. */ }
+  };
+  const required = () => {
+    if (!native) throw new Error("Recorded viewer was disposed");
+    return native;
+  };
+  const start = async (id: number, args: [string | string[] | null, Parameters<WebViewer["start"]>[2]]) => {
+    const starting = required();
+    try {
+      await starting.start(args[0], mount, args[1]);
+      if (native === starting && starting.canvas) {
+        cameraJournal?.dispose();
+        cameraJournal = createRecordedRerunCameraJournal(
+          starting.canvas,
+          window as Window & typeof globalThis,
+        );
+      }
+      if (native === starting) send({ type: "started", id });
+    } catch (error) {
+      if (native === starting) send({ type: "start-failed", id, message: String(error) });
+    } finally {
+      if (native !== starting) {
+        try { starting.stop(); } catch { /* Late completion after disposal. */ }
+      }
+    }
+  };
+  return {
+    version: 2,
+    connect(callback) {
+      if (native) throw new Error("Recorded viewer already has an owner");
+      native = create();
+      notify = callback;
+    },
+    invoke(request, bytes) {
+      try {
+        const { method, args = [], id } = JSON.parse(request);
+        let result: unknown;
+        switch (method) {
+          case "stop": stop(); break;
+          case "start": required(); void start(id, args); break;
+          case "ready": result = native?.ready ?? false; break;
+          case "on": {
+            const subscribe = required().on as (event: string, callback: (...values: unknown[]) => void) => () => void;
+            subscriptions.set(id, subscribe.call(required(), args[0], (...values) => send({ type: "event", id, values })));
+            break;
+          }
+          case "off":
+            try { subscriptions.get(id)?.(); } finally { subscriptions.delete(id); }
+            break;
+          case "channel-open": {
+            const name = args[0] as string | undefined;
+            channels.set(id, required().open_channel(name));
+            break;
+          }
+          case "channel-ready": result = channels.get(id)?.ready ?? false; break;
+          case "channel-send": if (bytes) {
+            channels.get(id)?.send_rrd(bytes);
+          } break;
+          case "channel-close":
+            try { channels.get(id)?.close(); } finally {
+              channels.delete(id);
+            }
+            break;
+          case "configure-camera-journal": cameraJournal?.configure(args[0], args[1]); break;
+          case "get-camera-eye": result = cameraJournal?.current(); break;
+          case "set-camera-viewport-start": cameraJournal?.setSpatialViewportStart(args[0]); break;
+          case "set-camera-max-orbital-radius": cameraJournal?.setMaxOrbitalRadius(args[0]); break;
+          case "open": required().open(args[0]); break;
+          case "close": required().close(args[0]); break;
+          case "override_panel_state": required().override_panel_state(args[0], args[1]); break;
+          case "get_active_recording_id": result = required().get_active_recording_id(); break;
+          case "get_active_timeline": result = required().get_active_timeline(args[0]); break;
+          case "get_current_time": result = required().get_current_time(args[0], args[1]); break;
+          case "get_playing": result = required().get_playing(args[0]); break;
+          case "get_time_range": result = required().get_time_range(args[0], args[1]); break;
+          case "set_active_timeline": required().set_active_timeline(args[0], args[1]); break;
+          case "set_current_time": required().set_current_time(args[0], args[1], args[2]); break;
+          case "set_playing": required().set_playing(args[0], args[1]); break;
+          default: throw new Error("Unsupported recorded viewer command");
+        }
+        return JSON.stringify({ result });
+      } catch (error) {
+        // A native Error also has a foreign prototype. Return text, never throw
+        // that object into a parent Promise/callback retained after disposal.
+        return JSON.stringify({ error: String(error) });
+      }
+    },
+  };
+}

apps/control-station/src/components/rerun/recordedRerunProtocol.ts

@@ -0,0 +1,12 @@
+/** Only parent-owned inputs and primitive strings cross the recorded realm.
+ * An SDK instance, Promise, DOM node or native callback never becomes a value
+ * retained by React. This is not a second playback clock.
+ */
+export type RerunInvoke = (request: string, bytes?: Uint8Array) => string;
+export type RerunNotify = (message: string) => void;
+export interface RerunFrameApi {
+  version: 2;
+  connect: (notify: RerunNotify) => void;
+  invoke: RerunInvoke;
+}
+export type RerunFrameWindow = Window & { missionCoreRerun?: RerunFrameApi };

apps/control-station/src/components/simulation/PlayCanvasRuntime.ts

@@ -1,25 +1,34 @@
 import {
   Application,
   Asset,
+  BLEND_NONE,
   BLEND_NORMAL,
   Color,
   CULLFACE_NONE,
   Entity,
   FILLMODE_NONE,
   Mat4,
+  Quat,
   RESOLUTION_AUTO,
   StandardMaterial,
   Vec2,
   Vec3,
   WasmModule,
   type ContainerResource,
-  type RenderComponent,
+  type ModelComponent,
   type ScriptType,
 } from "playcanvas";
 import { CameraControls } from "playcanvas/scripts/esm/camera-controls.mjs";
 
+import {
+  prepareSimulationPhysics,
+  SimulationUgvController,
+  type AmmoApi,
+} from "./SimulationUgvController";
+
 import type {
-  SimulationTransformAxis,
+  SimulationEulerRotation,
+  SimulationUgvPreset,
   SimulationViewerQuality,
   SimulationWorldManifest,
 } from "../../core/simulation/projects";
@@ -28,46 +37,18 @@ export type SimulationViewMode = "visual" | "collision" | "combined";
 export type SimulationQuality = SimulationViewerQuality;
 export type SimulationLayer = "visual" | "collision";
 export type SimulationCameraAxis = "horizontal" | "vertical";
+export type SimulationControlMode = "free" | "ugv";
 
-export const PLAYCANVAS_IDENTITY_TRANSFORM = [
-  1, 0, 0, 0,
-  0, 1, 0, 0,
-  0, 0, 1, 0,
-  0, 0, 0, 1,
-];
-
-export const PLAYCANVAS_X_180_TRANSFORM = [
-  1, 0, 0, 0,
-  0, -1, 0, 0,
-  0, 0, -1, 0,
-  0, 0, 0, 1,
-];
-
-export const PLAYCANVAS_Y_180_TRANSFORM = [
-  -1, 0, 0, 0,
-  0, 1, 0, 0,
-  0, 0, -1, 0,
-  0, 0, 0, 1,
-];
-
-export const PLAYCANVAS_Z_180_TRANSFORM = [
-  -1, 0, 0, 0,
-  0, -1, 0, 0,
-  0, 0, 1, 0,
-  0, 0, 0, 1,
-];
-
-export function playCanvasAxisTransform(axis: SimulationTransformAxis, inverted: boolean): number[] {
-  if (!inverted) return PLAYCANVAS_IDENTITY_TRANSFORM;
-  if (axis === "x") return PLAYCANVAS_X_180_TRANSFORM;
-  if (axis === "y") return PLAYCANVAS_Y_180_TRANSFORM;
-  return PLAYCANVAS_Z_180_TRANSFORM;
+export function playCanvasEulerTransform(rotation: SimulationEulerRotation): number[] {
+  return Array.from(new Mat4().setFromEulerAngles(rotation.x, rotation.y, rotation.z).data);
 }
 
 export interface SimulationRuntime {
   mount(canvas: HTMLCanvasElement): Promise<void>;
   loadWorld(manifest: SimulationWorldManifest): Promise<void>;
   setViewMode(mode: SimulationViewMode): Promise<void>;
+  setControlMode(mode: SimulationControlMode): Promise<void>;
+  setUgvPreset(preset: SimulationUgvPreset): void;
   setQuality(quality: SimulationQuality): void;
   setLayerWorldTransform(layer: SimulationLayer, transform: number[]): void;
   setCameraInversion(axis: SimulationCameraAxis, inverted: boolean): void;
@@ -78,10 +59,6 @@ export interface SimulationRuntime {
 
 type DesktopCameraInput = {
   read(): { mouse: number[] } & Record<string, number[]>;
-  _pointerId?: number;
-  _button?: number[];
-  _keyNow?: number[];
-  _keyPrev?: number[];
 };
 
 type CameraController = ScriptType & Pick<CameraControls, "reset" | "focus"> & {
@@ -123,6 +100,7 @@ export class PlayCanvasRuntime implements SimulationRuntime {
   private visualEntity: Entity | null = null;
   private visualAsset: Asset | null = null;
   private collisionEntity: Entity | null = null;
+  private collisionVisuals: ModelComponent[] = [];
   private collisionAsset: Asset | null = null;
   private collisionMaterial: StandardMaterial | null = null;
   private collisionSource: { meshUrl: string; projectId: string; worldTransform: number[] } | null = null;
@@ -131,23 +109,44 @@ export class PlayCanvasRuntime implements SimulationRuntime {
   private viewMode: SimulationViewMode = "visual";
   private quality: SimulationQuality = "high";
   private cameraInversion = { horizontal: true, vertical: false };
+  private controlMode: SimulationControlMode = "free";
+  private controlRequestVersion = 0;
+  private ugvController: SimulationUgvController | null = null;
+  private readonly lastCameraPosition = new Vec3();
+  private readonly lastCameraRotation = new Quat();
+  private cameraSnapshotReady = false;
   private renderIntervalMs = 1000 / 60;
   private renderAccumulatorMs = 0;
   private disposed = false;
-  private scheduleFrame = (deltaMs: number): void => {
-    if (!this.app || this.disposed) return;
-    this.renderAccumulatorMs += deltaMs;
+  private requestGsplatFrame = (): void => {
+    this.requestRender();
+  };
+  private updateFrame = (deltaSeconds: number): void => {
+    if (!this.app || !this.camera || this.disposed) return;
+    this.ugvController?.update(deltaSeconds);
+    const position = this.camera.getPosition();
+    const rotation = this.camera.getRotation();
+    const cameraChanged = !this.cameraSnapshotReady
+      || !position.equals(this.lastCameraPosition)
+      || !rotation.equals(this.lastCameraRotation);
+    if (!cameraChanged && this.controlMode === "free") return;
+    this.lastCameraPosition.copy(position);
+    this.lastCameraRotation.copy(rotation);
+    this.cameraSnapshotReady = true;
+    this.renderAccumulatorMs += deltaSeconds * 1000;
     if (this.renderAccumulatorMs < this.renderIntervalMs) return;
     this.renderAccumulatorMs %= this.renderIntervalMs;
     this.app.renderNextFrame = true;
   };
 
   async mount(canvas: HTMLCanvasElement): Promise<void> {
-    if (this.app) throw new Error("PlayCanvas runtime уже смонтирован.");
+    if (this.app) throw new Error("Runtime сцены уже запущен.");
     this.disposed = false;
     this.renderAccumulatorMs = 0;
     this.canvas = canvas;
     configureDracoDecoder();
+    const ammo: AmmoApi = await prepareSimulationPhysics();
+    if (this.disposed) return;
     canvas.tabIndex = 0;
     canvas.addEventListener("contextmenu", preventContextMenu);
     canvas.addEventListener("pointerdown", focusCanvas, true);
@@ -161,7 +160,8 @@ export class PlayCanvasRuntime implements SimulationRuntime {
     });
     this.app = app;
     app.autoRender = false;
-    app.on("frameupdate", this.scheduleFrame);
+    app.on("update", this.updateFrame);
+    app.systems.gsplat?.on("frame:request", this.requestGsplatFrame);
     app.setCanvasFillMode(FILLMODE_NONE, 1, 1);
     app.setCanvasResolution(RESOLUTION_AUTO);
     app.scene.ambientLight = new Color(0.35, 0.37, 0.42);
@@ -188,6 +188,7 @@ export class PlayCanvasRuntime implements SimulationRuntime {
     app.root.addChild(camera);
     this.camera = camera;
     this.cameraController = controller;
+    this.ugvController = new SimulationUgvController(app, canvas, camera, ammo);
 
     const light = new Entity("SimulationSun");
     light.addComponent("light", {
@@ -210,7 +211,7 @@ export class PlayCanvasRuntime implements SimulationRuntime {
     const app = this.requiredApp();
     this.unloadWorld();
     const sourceUrl = manifest.visual.streamedSogUrl ?? manifest.visual.previewSogUrl;
-    if (!sourceUrl) throw new Error("World manifest не содержит визуальный SOG.");
+    if (!sourceUrl) throw new Error("Манифест локации не содержит визуальный слой.");
     const asset = new Asset(`SimulationWorld:${manifest.projectId}`, "gsplat", { url: sourceUrl });
     app.assets.add(asset);
     this.visualAsset = asset;
@@ -233,10 +234,11 @@ export class PlayCanvasRuntime implements SimulationRuntime {
         this.visualEntity = visual;
         this.applyQuality();
         this.applyViewMode();
+        this.requestRender();
         resolve();
       };
-      const failed = (error: unknown) => {
-        reject(new Error(error instanceof Error ? error.message : "PlayCanvas не загрузил SOG."));
+      const failed = (_error: unknown) => {
+        reject(new Error("Визуальный слой не загрузился."));
       };
       asset.ready(ready);
       asset.once("error", failed);
@@ -254,7 +256,6 @@ export class PlayCanvasRuntime implements SimulationRuntime {
   }
 
   async setViewMode(mode: SimulationViewMode): Promise<void> {
-    this.resetCameraInteraction();
     this.viewMode = mode;
     this.applyViewMode();
     try {
@@ -263,13 +264,58 @@ export class PlayCanvasRuntime implements SimulationRuntime {
         this.applyViewMode();
       }
     } finally {
+      this.requestRender();
       this.canvas?.focus({ preventScroll: true });
     }
   }
 
+  async setControlMode(mode: SimulationControlMode): Promise<void> {
+    const requestVersion = ++this.controlRequestVersion;
+    const controller = this.ugvController;
+    if (!controller) throw new Error("Управление UGV ещё не готово.");
+
+    if (mode === "free") {
+      controller.disable();
+      this.controlMode = "free";
+      if (this.cameraController) this.cameraController.enabled = true;
+      this.home();
+      return;
+    }
+    if (this.controlMode === "ugv" && controller.enabled) return;
+
+    try {
+      await this.ensureCollision();
+      if (requestVersion !== this.controlRequestVersion || this.disposed) return;
+      const collisionWorld = this.collisionEntity;
+      if (!collisionWorld) throw new Error("Физический слой UGV отсутствует.");
+      if (this.cameraController) this.cameraController.enabled = false;
+      await controller.enable(collisionWorld);
+      if (requestVersion !== this.controlRequestVersion || this.disposed) {
+        controller.disable();
+        if (this.cameraController) this.cameraController.enabled = true;
+        return;
+      }
+      this.controlMode = "ugv";
+      this.cameraSnapshotReady = false;
+      this.requestRender();
+    } catch (error) {
+      controller.disable();
+      this.controlMode = "free";
+      if (this.cameraController) this.cameraController.enabled = true;
+      throw error;
+    }
+  }
+
   setQuality(quality: SimulationQuality): void {
     this.quality = quality;
     this.applyQuality();
+    this.requestRender();
+  }
+
+  setUgvPreset(preset: SimulationUgvPreset): void {
+    this.ugvController?.configure(preset);
+    this.cameraSnapshotReady = false;
+    this.requestRender();
   }
 
   setLayerWorldTransform(layer: SimulationLayer, transform: number[]): void {
@@ -278,10 +324,13 @@ export class PlayCanvasRuntime implements SimulationRuntime {
     }
     if (layer === "visual") {
       if (this.visualEntity) applyWorldTransform(this.visualEntity, transform);
+      this.requestRender();
       return;
     }
     if (this.collisionSource) this.collisionSource.worldTransform = [...transform];
     if (this.collisionEntity) applyWorldTransform(this.collisionEntity, transform);
+    this.ugvController?.syncCollisionBodies();
+    this.requestRender();
   }
 
   setCameraInversion(axis: SimulationCameraAxis, inverted: boolean): void {
@@ -289,6 +338,12 @@ export class PlayCanvasRuntime implements SimulationRuntime {
   }
 
   home(): void {
+    if (this.controlMode === "ugv" && this.ugvController?.enabled) {
+      this.ugvController.reset();
+      this.cameraSnapshotReady = false;
+      this.requestRender();
+      return;
+    }
     this.resetCameraInteraction();
     if (this.cameraController) {
       this.cameraController.reset(HOME_FOCUS, HOME_POSITION);
@@ -296,6 +351,7 @@ export class PlayCanvasRuntime implements SimulationRuntime {
       this.camera.setPosition(HOME_POSITION);
       this.camera.lookAt(HOME_FOCUS);
     }
+    this.requestRender();
     this.canvas?.focus({ preventScroll: true });
   }
 
@@ -312,6 +368,7 @@ export class PlayCanvasRuntime implements SimulationRuntime {
       this.camera.setPosition(position);
       this.camera.lookAt(focus);
     }
+    this.requestRender();
   }
 
   dispose(): void {
@@ -321,10 +378,13 @@ export class PlayCanvasRuntime implements SimulationRuntime {
     this.resizeObserver = null;
     const webgl = this.canvas?.getContext("webgl2") ?? this.canvas?.getContext("webgl");
     this.unloadWorld();
+    this.ugvController?.dispose();
+    this.ugvController = null;
     if (this.app) {
       this.app.autoRender = false;
       this.app.renderNextFrame = false;
-      this.app.off("frameupdate", this.scheduleFrame);
+      this.app.systems.gsplat?.off("frame:request", this.requestGsplatFrame);
+      this.app.off("update", this.updateFrame);
       this.app.destroy();
     }
     webgl?.getExtension("WEBGL_lose_context")?.loseContext();
@@ -340,19 +400,26 @@ export class PlayCanvasRuntime implements SimulationRuntime {
     this.canvas = null;
     this.camera = null;
     this.cameraController = null;
+    this.controlMode = "free";
+    this.cameraSnapshotReady = false;
   }
 
   private requiredApp(): Application {
-    if (!this.app) throw new Error("PlayCanvas runtime не смонтирован.");
+    if (!this.app) throw new Error("Runtime сцены не запущен.");
     return this.app;
   }
 
+  private requestRender(): void {
+    if (this.app && !this.disposed) this.app.renderNextFrame = true;
+  }
+
   private resize(): void {
     if (!this.app || !this.canvas) return;
     const bounds = this.canvas.parentElement?.getBoundingClientRect();
     const width = Math.max(1, Math.round(bounds?.width ?? this.canvas.clientWidth));
     const height = Math.max(1, Math.round(bounds?.height ?? this.canvas.clientHeight));
     this.app.resizeCanvas(width, height);
+    this.requestRender();
   }
 
   private applyViewMode(): void {
@@ -360,36 +427,27 @@ export class PlayCanvasRuntime implements SimulationRuntime {
       this.visualEntity.enabled = this.viewMode !== "collision" || !this.collisionEntity;
     }
     if (this.collisionEntity) {
-      this.collisionEntity.enabled = this.viewMode !== "visual";
+      // Physics bodies must stay active while their green debug geometry is hidden.
+      this.collisionEntity.enabled = true;
+      const visible = this.viewMode !== "visual";
+      for (const model of this.collisionVisuals) model.enabled = visible;
     }
     if (this.collisionMaterial) {
       const combined = this.viewMode === "combined";
-      this.collisionMaterial.opacity = combined ? 0.34 : 0.82;
+      this.collisionMaterial.opacity = combined ? 0.34 : 1;
+      this.collisionMaterial.blendType = combined ? BLEND_NORMAL : BLEND_NONE;
       this.collisionMaterial.depthWrite = !combined;
       this.collisionMaterial.update();
     }
+    this.requestRender();
   }
 
   private resetCameraInteraction(): void {
     const controller = this.cameraController;
-    const canvas = this.canvas;
-    if (!controller || !canvas) return;
-    const input = controller._desktopInput;
-    const pointerId = input?._pointerId ?? -1;
-    if (pointerId >= 0 && canvas.hasPointerCapture(pointerId)) {
-      try {
-        canvas.releasePointerCapture(pointerId);
-      } catch {
-        // The browser may already have released capture after a trackpad gesture.
-      }
-    }
-    if (input) {
-      input._pointerId = -1;
-      input._button?.fill(0);
-      input._keyNow?.fill(0);
-      input._keyPrev?.fill(0);
-      input.read();
-    }
+    if (!controller) return;
+    // CameraControls owns pointer capture and its input-source lifecycle. Mutating
+    // those private fields here left the source unable to claim the next drag
+    // after a layer switch. The documented state event drains pending deltas.
     controller.fire("state");
     const state = controller._state;
     if (state) {
@@ -430,45 +488,52 @@ export class PlayCanvasRuntime implements SimulationRuntime {
     this.collisionAsset = asset;
     await new Promise<void>((resolve, reject) => {
       asset.ready((loaded) => {
-        if (this.disposed || !this.app) {
-          loaded.unload();
-          resolve();
-          return;
-        }
-        const resource = loaded.resource as ContainerResource | null;
-        if (!resource) {
-          reject(new Error("PlayCanvas не открыл collision GLB."));
-          return;
-        }
-        const entity = resource.instantiateRenderEntity({
-          castShadows: false,
-          receiveShadows: false,
-        });
-        entity.name = "CollisionWorld";
-        entity.enabled = false;
-        applyWorldTransform(entity, worldTransform);
-        app.root.addChild(entity);
-
-        const material = new StandardMaterial();
-        material.name = "SimulationCollisionMaterial";
-        material.diffuse = new Color(0.2, 0.95, 0.42);
-        material.emissive = new Color(0.08, 0.36, 0.14);
-        material.opacity = 0.34;
-        material.blendType = BLEND_NORMAL;
-        material.depthWrite = false;
-        material.cull = CULLFACE_NONE;
-        material.update();
-        for (const render of entity.findComponents("render") as RenderComponent[]) {
-          for (const meshInstance of render.meshInstances) {
-            meshInstance.material = material;
+        try {
+          if (this.disposed || !this.app) {
+            loaded.unload();
+            resolve();
+            return;
           }
+          const resource = loaded.resource as ContainerResource | null;
+          if (!resource) throw new Error("Контейнер GLB не содержит ресурса.");
+          const entity = resource.instantiateModelEntity({
+            castShadows: false,
+            receiveShadows: false,
+          });
+          entity.name = "CollisionWorld";
+          entity.enabled = false;
+          applyWorldTransform(entity, worldTransform);
+          app.root.addChild(entity);
+
+          const material = new StandardMaterial();
+          material.name = "SimulationCollisionMaterial";
+          material.diffuse = new Color(0.2, 0.95, 0.42);
+          material.emissive = new Color(0.08, 0.36, 0.14);
+          material.opacity = 0.34;
+          material.blendType = BLEND_NORMAL;
+          material.depthWrite = false;
+          material.cull = CULLFACE_NONE;
+          material.update();
+          const models = entity.findComponents("model") as ModelComponent[];
+          for (const model of models) {
+            for (const meshInstance of model.meshInstances ?? []) {
+              meshInstance.material = material;
+            }
+          }
+          this.collisionEntity = entity;
+          this.collisionVisuals = models;
+          this.collisionMaterial = material;
+          this.applyViewMode();
+          this.requestRender();
+          resolve();
+        } catch (error) {
+          reject(new Error(
+            `Слой коллизий не открылся: ${error instanceof Error ? error.message : String(error)}`,
+          ));
         }
-        this.collisionEntity = entity;
-        this.collisionMaterial = material;
-        resolve();
       });
       asset.once("error", (error: unknown) => {
-        reject(new Error(error instanceof Error ? error.message : "PlayCanvas не загрузил collision GLB."));
+        reject(new Error(`Слой коллизий не загрузился: ${String(error)}`));
       });
       app.assets.load(asset);
     });
@@ -477,7 +542,7 @@ export class PlayCanvasRuntime implements SimulationRuntime {
   private async ensureCollision(): Promise<void> {
     if (this.collisionEntity) return;
     if (!this.collisionSource) {
-      throw new Error("Collision GLB отсутствует в world manifest.");
+      throw new Error("Слой коллизий отсутствует в манифесте локации.");
     }
     if (!this.collisionLoadPromise) {
       this.collisionLoadPromise = this.loadCollision(
@@ -492,6 +557,10 @@ export class PlayCanvasRuntime implements SimulationRuntime {
   }
 
   private unloadWorld(): void {
+    this.controlRequestVersion += 1;
+    this.ugvController?.disable();
+    this.controlMode = "free";
+    if (this.cameraController) this.cameraController.enabled = true;
     if (this.visualEntity) {
       this.visualEntity.destroy();
       this.visualEntity = null;
@@ -505,6 +574,7 @@ export class PlayCanvasRuntime implements SimulationRuntime {
       this.collisionEntity.destroy();
       this.collisionEntity = null;
     }
+    this.collisionVisuals = [];
     if (this.collisionAsset && this.app) {
       this.app.assets.remove(this.collisionAsset);
       this.collisionAsset.unload();

apps/control-station/src/components/simulation/SimulationCatalog.tsx

@@ -0,0 +1,333 @@
+import {
+  ActivityIndicator,
+  Button,
+  Icon,
+  IconButton,
+  StatusBadge,
+} from "@nodedc/ui-react";
+
+import type {
+  SimulationProject,
+  SimulationProjectStatus,
+  SimulationUploadProgress,
+} from "../../core/simulation/projects";
+import { estimateSimulationProcessing } from "../../core/simulation/projects";
+
+const ACTIVE_STATUSES = new Set<SimulationProjectStatus>([
+  "uploading",
+  "queued",
+  "processing",
+  "importing",
+]);
+
+export function SimulationCatalog({
+  projects,
+  uploadProgress,
+  loading,
+  loadError,
+  queueError,
+  dropping,
+  onCreate,
+  onRetryLoad,
+  onSelect,
+  onEdit,
+  onDelete,
+}: {
+  projects: SimulationProject[];
+  uploadProgress: ReadonlyMap<string, SimulationUploadProgress>;
+  loading: boolean;
+  loadError: string | null;
+  queueError: string | null;
+  dropping: boolean;
+  onCreate: () => void;
+  onRetryLoad: () => void;
+  onSelect: (project: SimulationProject) => void;
+  onEdit: (project: SimulationProject) => void;
+  onDelete: (project: SimulationProject) => void;
+}) {
+  const sourceBytes = projects.reduce(
+    (sum, project) => sum + project.source.totalByteLength,
+    0,
+  );
+
+  return (
+    <section
+      className="simulation-catalog"
+      data-dropping={dropping ? "true" : undefined}
+      aria-label="Проекты симуляции"
+    >
+      <header className="simulation-catalog__summary">
+        <div><span>Проектов</span><strong>{projects.length.toLocaleString("ru-RU")}</strong></div>
+        <div><span>Визуал готов</span><strong>{countStatus(projects, "ready")}</strong></div>
+        <div><span>В работе</span><strong>{projects.filter((project) => ACTIVE_STATUSES.has(project.status)).length}</strong></div>
+        <div><span>Исходники</span><strong>{formatBytes(sourceBytes)}</strong></div>
+      </header>
+
+      {queueError ? (
+        <div className="simulation-catalog__notice" role="alert">
+          <Icon name="alert" size={18} />
+          <span>{queueError}</span>
+        </div>
+      ) : null}
+
+      {loading && projects.length === 0 ? (
+        <div className="simulation-catalog__state" role="status">
+          <ActivityIndicator label="Загрузка каталога" />
+          <span>Читаем каталог сцен</span>
+        </div>
+      ) : loadError && projects.length === 0 ? (
+        <div className="simulation-catalog__state" role="alert">
+          <Icon name="alert" size={20} />
+          <div><strong>Каталог недоступен</strong><span>{loadError}</span></div>
+          <Button size="compact" onClick={onRetryLoad}>Повторить</Button>
+        </div>
+      ) : projects.length === 0 ? (
+        <div className="simulation-catalog__empty">
+          <span><Icon name="globe" size={20} /></span>
+          <strong>Перетащите архивы в это окно</strong>
+          <p>Каждый ZIP, RAR или 7z сразу станет отдельным проектом и встанет в очередь.</p>
+          <Button variant="primary" icon={<Icon name="plus" size={16} />} onClick={onCreate}>
+            Новый проект
+          </Button>
+        </div>
+      ) : (
+        <div className="simulation-catalog__table-wrap">
+          <table className="simulation-catalog__table">
+            <thead>
+              <tr>
+                <th>Проект</th>
+                <th>Источник</th>
+                <th>Размер</th>
+                <th>Сплаты</th>
+                <th>Статус</th>
+                <th>Обновлён</th>
+                <th aria-label="Действия" />
+              </tr>
+            </thead>
+            <tbody>
+              {projects.map((project) => (
+                <SimulationCatalogRow
+                  key={project.projectId}
+                  project={project}
+                  uploadProgress={uploadProgress.get(project.projectId)}
+                  onSelect={() => onSelect(project)}
+                  onEdit={() => onEdit(project)}
+                  onDelete={() => onDelete(project)}
+                />
+              ))}
+            </tbody>
+          </table>
+        </div>
+      )}
+
+      {dropping ? (
+        <div className="simulation-catalog__drop-overlay" role="status">
+          <span className="simulation-catalog__drop-mark"><Icon name="plus" size={28} /></span>
+          <strong>Отпустите архивы</strong>
+          <span>ZIP · RAR · 7z · до 16 ГБ на проект</span>
+          <small>Внутри — сцена LCC или LCC2 и связанные файлы</small>
+        </div>
+      ) : null}
+    </section>
+  );
+}
+
+function SimulationCatalogRow({
+  project,
+  uploadProgress,
+  onSelect,
+  onEdit,
+  onDelete,
+}: {
+  project: SimulationProject;
+  uploadProgress?: SimulationUploadProgress;
+  onSelect: () => void;
+  onEdit: () => void;
+  onDelete: () => void;
+}) {
+  const status = statusPresentation(project.status);
+  const active = ACTIVE_STATUSES.has(project.status);
+  return (
+    <tr data-status={project.status}>
+      <td>
+        <button type="button" onClick={onSelect}>
+          <span className="simulation-catalog__project-icon"><Icon name="globe" size={18} /></span>
+          <span>
+            <strong>{project.name}</strong>
+            <small>{sourceFileLabel(project)}</small>
+          </span>
+        </button>
+      </td>
+      {active ? (
+        <td colSpan={3}>
+          <ProjectProgress project={project} localProgress={uploadProgress} />
+        </td>
+      ) : (
+        <>
+          <td>
+            {project.source.kind === "archive" ? "Архив" : "Папка"}
+            <small>{project.source.files.length} файл(ов)</small>
+          </td>
+          <td>{formatBytes(project.source.totalByteLength)}</td>
+          <td>—</td>
+        </>
+      )}
+      <td><StatusBadge tone={status.tone}>{status.label}</StatusBadge></td>
+      <td>{formatDate(project.updatedAtUtc)}</td>
+      <td>
+        <div className="simulation-catalog__actions">
+          <IconButton label={`Удалить ${project.name}`} onClick={onDelete}>
+            <Icon name="trash" size={16} />
+          </IconButton>
+          <IconButton label={`Редактировать ${project.name}`} onClick={onEdit}>
+            <Icon name="edit" size={16} />
+          </IconButton>
+        </div>
+      </td>
+    </tr>
+  );
+}
+
+function ProjectProgress({
+  project,
+  localProgress,
+}: {
+  project: SimulationProject;
+  localProgress?: SimulationUploadProgress;
+}) {
+  const progress = progressPresentation(project, localProgress);
+  return (
+    <div
+      className="simulation-catalog__progress"
+      data-indeterminate={progress.indeterminate ? "true" : undefined}
+      role="progressbar"
+      aria-label={progress.label}
+      aria-valuemin={0}
+      aria-valuemax={100}
+      aria-valuenow={progress.indeterminate ? undefined : progress.percent}
+    >
+      {progress.meta ? <small className="simulation-catalog__progress-meta">{progress.meta}</small> : null}
+      <span className="simulation-catalog__progress-track">
+        <i style={{ width: `${progress.percent}%` }} />
+      </span>
+      <small className="simulation-catalog__progress-stage">{progress.label}</small>
+    </div>
+  );
+}
+
+function progressPresentation(
+  project: SimulationProject,
+  local?: SimulationUploadProgress,
+): { percent: number; label: string; meta: string | null; indeterminate: boolean } {
+  if (project.status === "uploading") {
+    const uploaded = local?.uploadedBytes ?? project.source.uploadedByteLength;
+    const total = local?.totalBytes ?? project.source.totalByteLength;
+    const percent = total ? Math.min(100, uploaded / total * 100) : 0;
+    return {
+      percent,
+      label: `${formatBytes(uploaded)} / ${formatBytes(total)}`,
+      meta: progressMeta(percent, local?.estimatedSecondsRemaining),
+      indeterminate: false,
+    };
+  }
+  if (project.status === "queued") {
+    return { percent: 0, label: "Ожидает обработки", meta: null, indeterminate: true };
+  }
+  const estimate = estimateSimulationProcessing(project);
+  if (estimate) {
+    return {
+      percent: estimate.percent,
+      label: processingLabel(project),
+      meta: progressMeta(estimate.percent, estimate.estimatedSecondsRemaining),
+      indeterminate: false,
+    };
+  }
+  const completed = project.provider.progress?.completed_steps;
+  const total = project.provider.progress?.total_steps;
+  if (typeof completed === "number" && typeof total === "number" && total > 0) {
+    const percent = Math.min(100, completed / total * 100);
+    return {
+      percent,
+      label: processingLabel(project),
+      meta: progressMeta(percent, null),
+      indeterminate: false,
+    };
+  }
+  return {
+    percent: project.status === "importing" ? 96 : 0,
+    label: processingLabel(project),
+    meta: project.status === "importing" ? progressMeta(96, null) : null,
+    indeterminate: project.status !== "importing",
+  };
+}
+
+function progressMeta(percent: number, seconds: number | null | undefined): string {
+  const roundedPercent = Math.min(100, Math.max(0, Math.floor(percent)));
+  return `Прогресс ${roundedPercent}% | ${remainingTimeLabel(seconds)}`;
+}
+
+function remainingTimeLabel(seconds: number | null | undefined): string {
+  if (seconds === null || seconds === undefined) return "Время уточняется";
+  if (seconds <= 60) return "Осталось меньше минуты";
+  const minutes = Math.ceil(seconds / 60);
+  if (minutes < 60) return `Осталось примерно ${minutes} мин`;
+  const hours = Math.floor(minutes / 60);
+  const remainder = minutes % 60;
+  return `Осталось примерно ${hours} ч${remainder ? ` ${remainder} мин` : ""}`;
+}
+
+function processingLabel(project: SimulationProject): string {
+  if (project.status === "importing") return "Подготавливаем сцену";
+  const stage = project.provider.state;
+  if (stage === "verifying_source") return "Проверяем исходник";
+  if (stage === "inspecting") return "Анализируем локацию";
+  if (stage === "building_preview") return "Подготавливаем локацию";
+  if (stage === "building_streamed_sog") return "Собираем уровни детализации";
+  if (stage === "building_collision") return "Собираем коллизии";
+  return "Обрабатываем локацию";
+}
+
+function statusPresentation(status: SimulationProjectStatus): {
+  label: string;
+  tone: "success" | "accent" | "warning" | "neutral";
+} {
+  if (status === "ready") return { label: "Визуал готов", tone: "success" };
+  if (status === "failed") return { label: "Ошибка", tone: "warning" };
+  if (status === "uploading") return { label: "Загрузка", tone: "neutral" };
+  if (status === "queued") return { label: "В очереди", tone: "neutral" };
+  if (status === "importing") return { label: "Подготовка", tone: "accent" };
+  return { label: "Обработка", tone: "accent" };
+}
+
+function sourceFileLabel(project: SimulationProject): string {
+  const first = project.source.files[0]?.logicalPath;
+  if (project.source.kind === "archive" && first) return first;
+  return `${sceneTypeLabel(project.sceneType)} · ${project.source.files.length} файл(ов)`;
+}
+
+function sceneTypeLabel(value: SimulationProject["sceneType"]): string {
+  if (value === "interior") return "Интерьер";
+  if (value === "object") return "Объект";
+  return "Улица";
+}
+
+function countStatus(projects: SimulationProject[], status: SimulationProjectStatus): number {
+  return projects.filter((project) => project.status === status).length;
+}
+
+function formatDate(value: string): string {
+  const date = new Date(value);
+  return Number.isNaN(date.valueOf()) ? "—" : date.toLocaleString("ru-RU", {
+    day: "2-digit",
+    month: "short",
+    hour: "2-digit",
+    minute: "2-digit",
+  });
+}
+
+function formatBytes(value: number): string {
+  if (value < 1024) return `${value} Б`;
+  if (value < 1024 ** 2) return `${(value / 1024).toLocaleString("ru-RU", { maximumFractionDigits: 1 })} КБ`;
+  if (value < 1024 ** 3) return `${(value / 1024 ** 2).toLocaleString("ru-RU", { maximumFractionDigits: 1 })} МБ`;
+  return `${(value / 1024 ** 3).toLocaleString("ru-RU", { maximumFractionDigits: 2 })} ГБ`;
+}

apps/control-station/src/components/simulation/SimulationProjectWindow.tsx

@@ -18,6 +18,10 @@ import {
   type SimulationUploadCandidate,
   type SimulationUploadProgress,
 } from "../../core/simulation/projects";
+import {
+  candidatesFromDrop,
+  validateSimulationCandidates,
+} from "../../core/simulation/sourceFiles";
 
 export function SimulationProjectWindow({
   open,
@@ -55,7 +59,7 @@ export function SimulationProjectWindow({
 
   const acceptCandidates = (next: SimulationUploadCandidate[]) => {
     try {
-      validateCandidates(next);
+      validateSimulationCandidates(next);
       setCandidates(next);
       setError(null);
       if (!name.trim() && next.length) {
@@ -213,7 +217,10 @@ export function SimulationProjectWindow({
           <div className="simulation-upload-progress" role="status">
             <span><i style={{ width: `${Math.min(100, progress.totalBytes ? progress.uploadedBytes / progress.totalBytes * 100 : 0)}%` }} /></span>
             <div>
-              <strong>{formatBytes(progress.uploadedBytes)} / {formatBytes(progress.totalBytes)}</strong>
+              <strong>
+                {formatBytes(progress.uploadedBytes)} / {formatBytes(progress.totalBytes)}
+                {" · "}{formatUploadEta(progress.estimatedSecondsRemaining)}
+              </strong>
               <small>{progress.currentPath}</small>
             </div>
           </div>
@@ -224,83 +231,15 @@ export function SimulationProjectWindow({
   );
 }
 
-interface LegacyFileEntry {
-  isFile: boolean;
-  isDirectory: boolean;
-  name: string;
-  fullPath: string;
-  file?: (callback: (file: File) => void, error?: (error: DOMException) => void) => void;
-  createReader?: () => {
-    readEntries: (
-      callback: (entries: LegacyFileEntry[]) => void,
-      error?: (error: DOMException) => void,
-    ) => void;
-  };
-}
-
-async function candidatesFromDrop(transfer: DataTransfer): Promise<SimulationUploadCandidate[]> {
-  const candidates: SimulationUploadCandidate[] = [];
-  for (const item of Array.from(transfer.items)) {
-    const entry = (item as DataTransferItem & {
-      webkitGetAsEntry?: () => LegacyFileEntry | null;
-    }).webkitGetAsEntry?.();
-    if (entry) {
-      await collectEntry(entry, candidates);
-      continue;
-    }
-    const file = item.getAsFile();
-    if (file) candidates.push({ file, logicalPath: file.name });
-  }
-  if (!candidates.length) {
-    for (const file of Array.from(transfer.files)) {
-      candidates.push({ file, logicalPath: file.name });
-    }
-  }
-  return candidates;
-}
-
-async function collectEntry(entry: LegacyFileEntry, target: SimulationUploadCandidate[]): Promise<void> {
-  if (entry.isFile && entry.file) {
-    const file = await new Promise<File>((resolve, reject) => entry.file?.(resolve, reject));
-    target.push({ file, logicalPath: entry.fullPath.replace(/^\//, "") || file.name });
-    return;
-  }
-  if (!entry.isDirectory || !entry.createReader) return;
-  const reader = entry.createReader();
-  while (true) {
-    const batch = await new Promise<LegacyFileEntry[]>((resolve, reject) => reader.readEntries(resolve, reject));
-    if (!batch.length) break;
-    for (const child of batch) await collectEntry(child, target);
-  }
-}
-
-function validateCandidates(candidates: SimulationUploadCandidate[]): void {
-  if (!candidates.length) throw new Error("Выберите архив или папку с результатом LCC/LCC2.");
-  const archives = candidates.filter((candidate) => /\.(zip|rar|7z)$/i.test(candidate.logicalPath));
-  if (archives.length) {
-    if (candidates.length !== 1) throw new Error("Архив нужно загружать одним файлом.");
-    return;
-  }
-  const descriptors = candidates.filter((candidate) => /\.lcc2?$/i.test(candidate.logicalPath));
-  if (descriptors.length !== 1) {
-    throw new Error("В папке должна быть ровно одна сцена .lcc или .lcc2.");
-  }
-  const paths = new Set<string>();
-  for (const candidate of candidates) {
-    const parts = candidate.logicalPath.split("/");
-    if (
-      !candidate.logicalPath ||
-      candidate.logicalPath.startsWith("/") ||
-      candidate.logicalPath.includes("\\") ||
-      candidate.logicalPath.includes("\0") ||
-      parts.some((part) => part === "" || part === "." || part === "..")
-    ) {
-      throw new Error("Папка содержит небезопасный путь.");
-    }
-    if (candidate.file.size <= 0) throw new Error(`Пустой файл: ${candidate.logicalPath}`);
-    if (paths.has(candidate.logicalPath)) throw new Error(`Повторяющийся путь: ${candidate.logicalPath}`);
-    paths.add(candidate.logicalPath);
-  }
+function formatUploadEta(seconds: number | null): string {
+  if (seconds === 0) return "загружено";
+  if (seconds === null) return "считаем время";
+  if (seconds < 60) return `осталось ≈ ${Math.max(1, seconds)} сек`;
+  const minutes = Math.ceil(seconds / 60);
+  if (minutes < 60) return `осталось ≈ ${minutes} мин`;
+  const hours = Math.floor(minutes / 60);
+  const remainder = minutes % 60;
+  return `осталось ≈ ${hours} ч${remainder ? ` ${remainder} мин` : ""}`;
 }
 
 function summarizeCandidates(candidates: SimulationUploadCandidate[]): { title: string; detail: string } {

apps/control-station/src/components/simulation/SimulationUgvSettingsPanel.tsx

@@ -0,0 +1,191 @@
+import {
+  Button,
+  Icon,
+  RangeControl,
+  Switch,
+  TextField,
+} from "@nodedc/ui-react";
+
+import {
+  SIMULATION_UGV_EXACT_VALUE_LIMITS,
+  type SimulationUgvPreset,
+} from "../../core/simulation/projects";
+
+export type SimulationUgvPresetSaveState = "idle" | "saving" | "saved" | "failed";
+
+export function SimulationUgvSettingsPanel({
+  value,
+  disabled,
+  saveState,
+  onChange,
+  onSave,
+}: {
+  value: SimulationUgvPreset;
+  disabled: boolean;
+  saveState: SimulationUgvPresetSaveState;
+  onChange: (preset: SimulationUgvPreset) => void;
+  onSave: () => void;
+}) {
+  const dimensions = value.dimensionsMeters;
+  const updateDimensions = (
+    patch: Partial<SimulationUgvPreset["dimensionsMeters"]>,
+  ) => {
+    const next = { ...dimensions, ...patch };
+    next.groundClearance = Math.max(
+      SIMULATION_UGV_EXACT_VALUE_LIMITS.groundClearance.min,
+      Math.min(next.groundClearance, roundToHundredth(next.height - 0.05)),
+    );
+    onChange({ ...value, dimensionsMeters: next });
+  };
+
+  return (
+    <section className="simulation-viewport__settings-group simulation-ugv-settings">
+      <div className="simulation-viewport__settings-group-head">
+        <strong>Физика UGV</strong>
+        <span>Дифференциальный привод</span>
+      </div>
+      <p>
+        A/D без W/S разворачивают UGV вокруг собственного центра. Скорость и
+        динамика применяются сразу. Мышь вращает камеру вокруг машины, колесо
+        меняет дистанцию; после паузы камера плавно возвращается назад. Ползунок
+        работает в штатном диапазоне, точное значение можно ввести вручную.
+      </p>
+      <TextField
+        label="Название пресета"
+        value={value.presetName}
+        maxLength={80}
+        disabled={disabled}
+        spellCheck={false}
+        onChange={(event) => onChange({ ...value, presetName: event.currentTarget.value })}
+      />
+      <RangeControl
+        label="Масса конструкции"
+      value={value.massKg}
+      min={10}
+      max={500}
+      exactValueBounds={SIMULATION_UGV_EXACT_VALUE_LIMITS.massKg}
+        step={5}
+        disabled={disabled}
+        formatValue={(mass) => `${Math.round(mass)} кг`}
+        onChange={(massKg) => onChange({ ...value, massKg })}
+      />
+      <div className="simulation-ugv-settings__subhead">
+        <strong>Габариты</strong>
+        <span>В метрах</span>
+      </div>
+      <RangeControl
+        label="Длина"
+        value={dimensions.length}
+      min={0.4}
+      max={3}
+      exactValueBounds={SIMULATION_UGV_EXACT_VALUE_LIMITS.length}
+        step={0.05}
+        disabled={disabled}
+        formatValue={formatMeters}
+        onChange={(length) => updateDimensions({ length })}
+      />
+      <RangeControl
+        label="Ширина"
+        value={dimensions.width}
+      min={0.3}
+      max={2}
+      exactValueBounds={SIMULATION_UGV_EXACT_VALUE_LIMITS.width}
+        step={0.05}
+        disabled={disabled}
+        formatValue={formatMeters}
+        onChange={(width) => updateDimensions({ width })}
+      />
+      <RangeControl
+        label="Общая высота"
+        value={dimensions.height}
+      min={0.2}
+      max={2}
+      exactValueBounds={SIMULATION_UGV_EXACT_VALUE_LIMITS.height}
+        step={0.05}
+        disabled={disabled}
+        formatValue={formatMeters}
+        onChange={(height) => updateDimensions({ height })}
+      />
+      <RangeControl
+        label="Клиренс"
+        value={dimensions.groundClearance}
+      min={0.03}
+      max={Math.max(0.03, Math.min(0.6, dimensions.height - 0.05))}
+      exactValueBounds={{
+        min: SIMULATION_UGV_EXACT_VALUE_LIMITS.groundClearance.min,
+        max: Math.min(
+          SIMULATION_UGV_EXACT_VALUE_LIMITS.groundClearance.max,
+          dimensions.height - 0.05,
+        ),
+      }}
+        step={0.01}
+        disabled={disabled}
+        formatValue={formatMeters}
+        onChange={(groundClearance) => updateDimensions({ groundClearance })}
+      />
+      <div className="simulation-ugv-settings__subhead">
+        <strong>Динамика</strong>
+        <span>Ограничители движения</span>
+      </div>
+      <RangeControl
+        label="Скорость движения"
+        value={value.maxSpeedMetersPerSecond}
+      min={0.1}
+      max={8}
+      exactValueBounds={SIMULATION_UGV_EXACT_VALUE_LIMITS.maxSpeedMetersPerSecond}
+        step={0.1}
+        disabled={disabled}
+        formatValue={(speed) => `${formatDecimal(speed, 1)} м/с`}
+        onChange={(maxSpeedMetersPerSecond) => onChange({
+          ...value,
+          maxSpeedMetersPerSecond,
+        })}
+      />
+      <RangeControl
+        label="Скорость разворота"
+        value={value.maxTurnRateDegrees}
+      min={5}
+      max={180}
+      exactValueBounds={SIMULATION_UGV_EXACT_VALUE_LIMITS.maxTurnRateDegrees}
+        step={5}
+        disabled={disabled}
+        formatValue={(rate) => `${Math.round(rate)}°/с`}
+        onChange={(maxTurnRateDegrees) => onChange({ ...value, maxTurnRateDegrees })}
+      />
+      <Switch
+        checked={value.invertSteering}
+        disabled={disabled}
+        label="Инверсия управления A/D"
+        onChange={(invertSteering) => onChange({ ...value, invertSteering })}
+      />
+      <Button
+        className="simulation-ugv-settings__save"
+        size="compact"
+        variant="secondary"
+        icon={<Icon name="save" size={16} />}
+        disabled={disabled || saveState === "saving" || value.presetName.trim() === ""}
+        onClick={onSave}
+      >
+        {saveState === "saving"
+          ? "Сохраняем…"
+          : saveState === "saved"
+            ? "Пресет сохранён"
+            : saveState === "failed"
+              ? "Повторить сохранение"
+              : "Сохранить пресет"}
+      </Button>
+    </section>
+  );
+}
+
+function formatMeters(value: number): string {
+  return `${formatDecimal(value, 2)} м`;
+}
+
+function formatDecimal(value: number, digits: number): string {
+  return value.toFixed(digits).replace(".", ",");
+}
+
+function roundToHundredth(value: number): number {
+  return Math.round(value * 100) / 100;
+}

apps/control-station/src/components/simulation/SimulationViewport.tsx

@@ -2,18 +2,21 @@ import { useEffect, useId, useRef, useState } from "react";
 import {
   ActivityIndicator,
   Button,
+  GlassMaterialSurface,
   Icon,
   IconButton,
   SegmentedControl,
   Select,
   StatusBadge,
   Switch,
+  TextField,
 } from "@nodedc/ui-react";
 
 import {
   saveSimulationViewerSettings,
+  type SimulationEulerRotation,
   type SimulationProject,
-  type SimulationTransformAxis,
+  type SimulationUgvPreset,
   type SimulationViewerSettings,
 } from "../../core/simulation/projects";
 import {
@@ -22,16 +25,17 @@ import {
 } from "../../core/runtime/latestAsyncCommitter";
 import {
   PlayCanvasRuntime,
-  playCanvasAxisTransform,
+  playCanvasEulerTransform,
+  type SimulationControlMode,
   type SimulationQuality,
   type SimulationViewMode,
 } from "./PlayCanvasRuntime";
+import {
+  SimulationUgvSettingsPanel,
+  type SimulationUgvPresetSaveState,
+} from "./SimulationUgvSettingsPanel";
 
-const AXIS_OPTIONS: Array<{ value: SimulationTransformAxis; label: string }> = [
-  { value: "x", label: "X" },
-  { value: "y", label: "Y" },
-  { value: "z", label: "Z" },
-];
+const ROTATION_AXES = ["x", "y", "z"] as const;
 
 export function SimulationViewport({
   project,
@@ -44,23 +48,34 @@ export function SimulationViewport({
   const runtimeRef = useRef<PlayCanvasRuntime | null>(null);
   const viewerSettingsRef = useRef(project.viewerSettings);
   const settingsCommitterRef = useRef<LatestAsyncCommitter<SimulationViewerSettings> | null>(null);
+  const settingsCommitSucceededRef = useRef(true);
+  const ugvSaveRequestRef = useRef(0);
+  const controlRequestRef = useRef(0);
   const settingsId = useId();
   const [state, setState] = useState<"mounting" | "loading" | "ready" | "failed">("mounting");
   const [error, setError] = useState<string | null>(null);
   const [viewMode, setViewMode] = useState<SimulationViewMode>("visual");
+  const [controlMode, setControlMode] = useState<SimulationControlMode>("free");
+  const [controlState, setControlState] = useState<"idle" | "loading" | "ready" | "failed">("idle");
   const [quality, setQuality] = useState<SimulationQuality>(project.viewerSettings.quality);
   const [collisionState, setCollisionState] = useState<"idle" | "loading" | "ready" | "failed">("idle");
   const [settingsOpen, setSettingsOpen] = useState(false);
-  const [visualInverted, setVisualInverted] = useState(project.viewerSettings.visual.inverted);
-  const [visualAxis, setVisualAxis] = useState(project.viewerSettings.visual.axis);
-  const [collisionInverted, setCollisionInverted] = useState(project.viewerSettings.collision.inverted);
-  const [collisionAxis, setCollisionAxis] = useState(project.viewerSettings.collision.axis);
+  const [visualRotation, setVisualRotation] = useState({
+    ...project.viewerSettings.visual.rotationDegrees,
+  });
+  const [collisionRotation, setCollisionRotation] = useState({
+    ...project.viewerSettings.collision.rotationDegrees,
+  });
   const [horizontalInverted, setHorizontalInverted] = useState(
     project.viewerSettings.camera.invertHorizontal,
   );
   const [verticalInverted, setVerticalInverted] = useState(
     project.viewerSettings.camera.invertVertical,
   );
+  const [ugvDraft, setUgvDraft] = useState<SimulationUgvPreset>(() =>
+    cloneUgvPreset(project.viewerSettings.ugv),
+  );
+  const [ugvSaveState, setUgvSaveState] = useState<SimulationUgvPresetSaveState>("idle");
   const [settingsError, setSettingsError] = useState<string | null>(null);
   const worldManifestRevision = JSON.stringify(project.worldManifest);
 
@@ -68,14 +83,18 @@ export function SimulationViewport({
     const settings = project.viewerSettings;
     viewerSettingsRef.current = settings;
     setQuality(settings.quality);
-    setVisualInverted(settings.visual.inverted);
-    setVisualAxis(settings.visual.axis);
-    setCollisionInverted(settings.collision.inverted);
-    setCollisionAxis(settings.collision.axis);
+    setVisualRotation({ ...settings.visual.rotationDegrees });
+    setCollisionRotation({ ...settings.collision.rotationDegrees });
     setHorizontalInverted(settings.camera.invertHorizontal);
     setVerticalInverted(settings.camera.invertVertical);
+    setUgvDraft(cloneUgvPreset(settings.ugv));
+    setUgvSaveState("idle");
+    ugvSaveRequestRef.current += 1;
     setSettingsError(null);
     setSettingsOpen(false);
+    controlRequestRef.current += 1;
+    setControlMode("free");
+    setControlState("idle");
   }, [project.projectId]);
 
   useEffect(() => {
@@ -84,9 +103,11 @@ export function SimulationViewport({
       async commit(settings) {
         try {
           const saved = await saveSimulationViewerSettings(project.projectId, settings);
+          settingsCommitSucceededRef.current = true;
           if (active) onProjectChange?.(saved);
           return true;
         } catch (caught) {
+          settingsCommitSucceededRef.current = false;
           if (active) {
             setSettingsError(
               caught instanceof Error ? caught.message : "Не удалось сохранить настройки сцены.",
@@ -122,15 +143,16 @@ export function SimulationViewport({
       runtime.setQuality(settings.quality);
       runtime.setCameraInversion("horizontal", settings.camera.invertHorizontal);
       runtime.setCameraInversion("vertical", settings.camera.invertVertical);
+      runtime.setUgvPreset(settings.ugv);
       setState("loading");
       await runtime.loadWorld(manifest);
       runtime.setLayerWorldTransform(
         "visual",
-        playCanvasAxisTransform(settings.visual.axis, settings.visual.inverted),
+        playCanvasEulerTransform(settings.visual.rotationDegrees),
       );
       runtime.setLayerWorldTransform(
         "collision",
-        playCanvasAxisTransform(settings.collision.axis, settings.collision.inverted),
+        playCanvasEulerTransform(settings.collision.rotationDegrees),
       );
       if (!cancelled) setState("ready");
     }).catch((caught: unknown) => {
@@ -140,6 +162,7 @@ export function SimulationViewport({
     });
     return () => {
       cancelled = true;
+      controlRequestRef.current += 1;
       runtime.dispose();
       runtimeRef.current = null;
     };
@@ -151,25 +174,89 @@ export function SimulationViewport({
   const collisionAvailable = project.worldManifest?.collision.available ?? false;
   const commitViewerSettings = (settings: SimulationViewerSettings) => {
     viewerSettingsRef.current = settings;
+    settingsCommitSucceededRef.current = false;
     settingsCommitterRef.current?.enqueue(settings);
   };
 
+  const changeUgvDraft = (next: SimulationUgvPreset) => {
+    setUgvDraft(cloneUgvPreset(next));
+    setUgvSaveState("idle");
+    ugvSaveRequestRef.current += 1;
+    runtimeRef.current?.setUgvPreset(next);
+  };
+
+  const saveUgvPreset = () => {
+    const committer = settingsCommitterRef.current;
+    if (!committer) {
+      setUgvSaveState("failed");
+      return;
+    }
+    const request = ++ugvSaveRequestRef.current;
+    const normalized = cloneUgvPreset({
+      ...ugvDraft,
+      presetName: ugvDraft.presetName.trim(),
+    });
+    setUgvDraft(normalized);
+    setUgvSaveState("saving");
+    setSettingsError(null);
+    settingsCommitSucceededRef.current = false;
+    const settings = { ...viewerSettingsRef.current, ugv: normalized };
+    viewerSettingsRef.current = settings;
+    committer.enqueue(settings);
+    void committer.waitForIdle().then(() => {
+      if (request !== ugvSaveRequestRef.current) return;
+      setUgvSaveState(settingsCommitSucceededRef.current ? "saved" : "failed");
+    });
+  };
+
+  const changeControlMode = (next: SimulationControlMode) => {
+    const runtime = runtimeRef.current;
+    if (!runtime) return;
+    const request = ++controlRequestRef.current;
+    setControlMode(next);
+    setControlState(next === "ugv" ? "loading" : "idle");
+    if (next === "ugv" && collisionState !== "ready") setCollisionState("loading");
+    void runtime.setControlMode(next).then(() => {
+      if (request !== controlRequestRef.current) return;
+      if (next === "ugv") {
+        setControlState("ready");
+        setCollisionState("ready");
+      }
+    }).catch((caught: unknown) => {
+      if (request !== controlRequestRef.current) return;
+      setControlMode("free");
+      setControlState("failed");
+      setCollisionState("failed");
+      setError(caught instanceof Error ? caught.message : "Не удалось запустить UGV.");
+    });
+  };
+
   return (
-    <section className="simulation-viewport" aria-label={`Сцена ${project.name}`}>
+    <section
+      className="simulation-viewport"
+      data-control-mode={controlMode}
+      aria-label={`Сцена ${project.name}`}
+    >
       <header className="simulation-viewport__toolbar">
         <div>
           <StatusBadge tone={state === "failed" || collisionState === "failed" ? "warning" : state === "ready" && collisionState !== "loading" ? "success" : "accent"}>
-            {collisionState === "loading"
-              ? "Загрузка collision"
+            {controlState === "loading"
+              ? "Подготовка UGV"
+              : controlState === "ready"
+                ? "UGV готов"
+                : controlState === "failed"
+                  ? "Ошибка UGV"
+                  : collisionState === "loading"
+              ? "Загрузка коллизий"
               : collisionState === "failed"
-                ? "Ошибка collision"
+                ? "Ошибка коллизий"
                 : state === "ready"
                   ? "Runtime готов"
                   : state === "failed"
                     ? "Ошибка runtime"
-                    : "Загрузка сцены"}
+                    : "Загрузка локации"}
           </StatusBadge>
-          <span>PlayCanvas Engine 2.21.4</span>
+          <span>Engine 2.21.4</span>
         </div>
         <div className="simulation-viewport__controls">
           <Select
@@ -190,6 +277,27 @@ export function SimulationViewport({
             minMenuWidth={230}
             menuWidth={230}
           />
+          <Select
+            label="Режим управления"
+            value={controlMode}
+            disabled={state !== "ready" || controlState === "loading"}
+            onChange={changeControlMode}
+            options={[
+              {
+                value: "free",
+                label: "Свободно",
+                description: "Свободная камера и навигация",
+              },
+              {
+                value: "ugv",
+                label: "UGV",
+                description: "WASD/стрелки · пробел — тормоз · R — домой",
+                disabled: !collisionAvailable,
+              },
+            ]}
+            minMenuWidth={250}
+            menuWidth={250}
+          />
           <SegmentedControl
             label="Слой сцены"
             value={viewMode}
@@ -204,7 +312,7 @@ export function SimulationViewport({
                 if (next !== "visual") setCollisionState("ready");
               }).catch((caught: unknown) => {
                 setCollisionState("failed");
-                setError(caught instanceof Error ? caught.message : "Не удалось открыть collision GLB.");
+                setError(caught instanceof Error ? caught.message : "Не удалось открыть слой коллизий.");
               });
             }}
             items={[
@@ -227,7 +335,7 @@ export function SimulationViewport({
               <Icon name="settings" size={18} />
             </IconButton>
             {settingsOpen ? (
-              <div
+              <GlassMaterialSurface
                 id={settingsId}
                 className="simulation-viewport__settings"
                 role="dialog"
@@ -236,100 +344,57 @@ export function SimulationViewport({
                 <div className="simulation-viewport__settings-head">
                   <div>
                     <strong>Настройки сцены</strong>
-                    <span>Gaussian-мир и камера</span>
+                    <span>Локация, камера и UGV</span>
                   </div>
                   <IconButton label="Закрыть настройки" onClick={() => setSettingsOpen(false)}>
                     <Icon name="close" size={16} />
                   </IconButton>
                 </div>
-                <section className="simulation-viewport__settings-group">
+                <div className="simulation-viewport__settings-scroll">
+                  <section className="simulation-viewport__settings-group">
                   <div className="simulation-viewport__settings-group-head">
                     <strong>Система координат</strong>
-                    <span>Мир PlayCanvas · Y вверх</span>
+                    <span>Мир сцены · Y вверх</span>
                   </div>
                   <p>
                     Коррекция слоёв не меняет координаты камеры, навигации и будущей физики.
                   </p>
-                  <div className="simulation-viewport__settings-switches">
-                    <div className="simulation-viewport__settings-layer-row">
-                      <Switch
-                        checked={visualInverted}
-                        disabled={state !== "ready"}
-                        label="Инверсия визуального слоя"
-                        onChange={(checked) => {
-                          setVisualInverted(checked);
-                          runtimeRef.current?.setLayerWorldTransform(
-                            "visual",
-                            playCanvasAxisTransform(visualAxis, checked),
-                          );
-                          commitViewerSettings({
-                            ...viewerSettingsRef.current,
-                            visual: { ...viewerSettingsRef.current.visual, inverted: checked },
-                          });
-                        }}
-                      />
-                      <Select
-                        className="simulation-viewport__axis-select"
-                        label="Ось инверсии визуального слоя"
-                        value={visualAxis}
-                        options={AXIS_OPTIONS}
-                        disabled={state !== "ready"}
-                        minMenuWidth={72}
-                        menuWidth={72}
-                        onChange={(axis) => {
-                          setVisualAxis(axis);
-                          runtimeRef.current?.setLayerWorldTransform(
-                            "visual",
-                            playCanvasAxisTransform(axis, visualInverted),
-                          );
-                          commitViewerSettings({
-                            ...viewerSettingsRef.current,
-                            visual: { ...viewerSettingsRef.current.visual, axis },
-                          });
-                        }}
-                      />
-                    </div>
-                    <div className="simulation-viewport__settings-layer-row">
-                      <Switch
-                        checked={collisionInverted}
-                        disabled={state !== "ready"}
-                        label="Инверсия collision-слоя"
-                        onChange={(checked) => {
-                          setCollisionInverted(checked);
-                          runtimeRef.current?.setLayerWorldTransform(
-                            "collision",
-                            playCanvasAxisTransform(collisionAxis, checked),
-                          );
-                          commitViewerSettings({
-                            ...viewerSettingsRef.current,
-                            collision: { ...viewerSettingsRef.current.collision, inverted: checked },
-                          });
-                        }}
-                      />
-                      <Select
-                        className="simulation-viewport__axis-select"
-                        label="Ось инверсии collision-слоя"
-                        value={collisionAxis}
-                        options={AXIS_OPTIONS}
-                        disabled={state !== "ready"}
-                        minMenuWidth={72}
-                        menuWidth={72}
-                        onChange={(axis) => {
-                          setCollisionAxis(axis);
-                          runtimeRef.current?.setLayerWorldTransform(
-                            "collision",
-                            playCanvasAxisTransform(axis, collisionInverted),
-                          );
-                          commitViewerSettings({
-                            ...viewerSettingsRef.current,
-                            collision: { ...viewerSettingsRef.current.collision, axis },
-                          });
-                        }}
-                      />
-                    </div>
+                  <div className="simulation-viewport__settings-rotations">
+                    <LayerRotationFields
+                      label="Гауссовый слой"
+                      value={visualRotation}
+                      disabled={state !== "ready"}
+                      onChange={(next) => {
+                        setVisualRotation(next);
+                        runtimeRef.current?.setLayerWorldTransform(
+                          "visual",
+                          playCanvasEulerTransform(next),
+                        );
+                        commitViewerSettings({
+                          ...viewerSettingsRef.current,
+                          visual: { rotationDegrees: next },
+                        });
+                      }}
+                    />
+                    <LayerRotationFields
+                      label="Слой коллизий"
+                      value={collisionRotation}
+                      disabled={state !== "ready"}
+                      onChange={(next) => {
+                        setCollisionRotation(next);
+                        runtimeRef.current?.setLayerWorldTransform(
+                          "collision",
+                          playCanvasEulerTransform(next),
+                        );
+                        commitViewerSettings({
+                          ...viewerSettingsRef.current,
+                          collision: { rotationDegrees: next },
+                        });
+                      }}
+                    />
                   </div>
-                </section>
-                <section className="simulation-viewport__settings-group">
+                  </section>
+                  <section className="simulation-viewport__settings-group">
                   <div className="simulation-viewport__settings-group-head">
                     <strong>Управление камерой</strong>
                     <span>Мышь и тачпад</span>
@@ -362,39 +427,165 @@ export function SimulationViewport({
                       }}
                     />
                   </div>
-                </section>
-                {settingsError ? (
-                  <p className="simulation-viewport__settings-error" role="alert">
-                    Настройки не сохранены: {settingsError}
-                  </p>
-                ) : null}
-              </div>
+                  </section>
+                  <SimulationUgvSettingsPanel
+                    value={ugvDraft}
+                    disabled={state !== "ready"}
+                    saveState={ugvSaveState}
+                    onChange={changeUgvDraft}
+                    onSave={saveUgvPreset}
+                  />
+                  {settingsError ? (
+                    <p className="simulation-viewport__settings-error" role="alert">
+                      Настройки не сохранены: {settingsError}
+                    </p>
+                  ) : null}
+                </div>
+              </GlassMaterialSurface>
             ) : null}
           </div>
         </div>
         <span className="simulation-viewport__toolbar-balance" aria-hidden="true" />
       </header>
       <div className="simulation-viewport__stage">
-        <canvas ref={canvasRef} aria-label={`PlayCanvas сцена ${project.name}`} />
+        <canvas ref={canvasRef} aria-label={`Сцена ${project.name}`} />
         {state !== "ready" ? (
           <div className="simulation-viewport__state" role={state === "failed" ? "alert" : "status"}>
-            {state === "failed" ? null : <ActivityIndicator label="Загрузка сцены" />}
-            <strong>{state === "failed" ? "Сцена не открылась" : "PlayCanvas загружает мир"}</strong>
-            <p>{error ?? "Streamed SOG догружается по мере готовности runtime."}</p>
+            {state === "failed" ? null : <ActivityIndicator label="Загрузка локации" />}
+            <strong>{state === "failed" ? "Локация не открылась" : "Загружаем локацию"}</strong>
+            <p>{error ?? "LOD-уровни загружаются по мере готовности runtime."}</p>
           </div>
         ) : null}
       </div>
       {!collisionAvailable ? (
         <footer className="simulation-viewport__notice">
-          <StatusBadge tone="warning">Collision недоступен</StatusBadge>
-          <span>Для этой сборки collision GLB не был запрошен; визуальный слой настоящий и не подменяется.</span>
+          <StatusBadge tone="warning">Коллизии недоступны</StatusBadge>
+          <span>Для этой сборки слой коллизий не создавался; визуальный слой остаётся доступен.</span>
         </footer>
       ) : collisionState === "failed" ? (
         <footer className="simulation-viewport__notice" role="alert">
-          <StatusBadge tone="warning">Collision не открылся</StatusBadge>
-          <span>{error ?? "PlayCanvas не смог загрузить collision GLB."}</span>
+          <StatusBadge tone="warning">Коллизии не открылись</StatusBadge>
+          <span>{error ?? "Слой коллизий не загрузился."}</span>
         </footer>
       ) : null}
     </section>
   );
 }
+
+function cloneUgvPreset(preset: SimulationUgvPreset): SimulationUgvPreset {
+  return {
+    ...preset,
+    dimensionsMeters: { ...preset.dimensionsMeters },
+  };
+}
+
+function LayerRotationFields({
+  label,
+  value,
+  disabled,
+  onChange,
+}: {
+  label: string;
+  value: SimulationEulerRotation;
+  disabled: boolean;
+  onChange: (rotation: SimulationEulerRotation) => void;
+}) {
+  return (
+    <div className="simulation-viewport__rotation-row">
+      <strong>{label}</strong>
+      <div className="simulation-viewport__rotation-fields">
+        {ROTATION_AXES.map((axis) => (
+          <RotationField
+            key={axis}
+            label={axis.toUpperCase()}
+            ariaLabel={`${label}: вращение ${axis.toUpperCase()}`}
+            value={value[axis]}
+            disabled={disabled}
+            onChange={(angle) => onChange({ ...value, [axis]: angle })}
+          />
+        ))}
+      </div>
+    </div>
+  );
+}
+
+function RotationField({
+  label,
+  ariaLabel,
+  value,
+  disabled,
+  onChange,
+}: {
+  label: string;
+  ariaLabel: string;
+  value: number;
+  disabled: boolean;
+  onChange: (angle: number) => void;
+}) {
+  const [draft, setDraft] = useState(() => String(value));
+  const editingRef = useRef(false);
+  const cancelNextBlurRef = useRef(false);
+
+  useEffect(() => {
+    if (!editingRef.current) setDraft(String(value));
+  }, [value]);
+
+  const parsedDraft = () => Number(draft.trim().replace(",", "."));
+  const finishEditing = (commit: boolean) => {
+    const parsed = parsedDraft();
+    if (commit && draft.trim() !== "" && Number.isFinite(parsed)) {
+      const normalized = Math.max(-360, Math.min(360, parsed));
+      onChange(normalized);
+      setDraft(String(normalized));
+    } else {
+      setDraft(String(value));
+    }
+    editingRef.current = false;
+  };
+
+  return (
+    <TextField
+      label={label}
+      aria-label={ariaLabel}
+      fieldClassName="simulation-viewport__rotation-field"
+      className="simulation-viewport__rotation-input"
+      type="text"
+      inputMode="decimal"
+      value={draft}
+      disabled={disabled}
+      spellCheck={false}
+      onFocus={() => {
+        editingRef.current = true;
+      }}
+      onChange={(event) => {
+        // Treat the first input event as the start of editing as well. Programmatic
+        // focus (and some browser/trackpad paths) may not deliver React's focus
+        // event before the controlled value changes.
+        editingRef.current = true;
+        const nextDraft = event.currentTarget.value;
+        setDraft(nextDraft);
+        const parsed = Number(nextDraft.trim().replace(",", "."));
+        if (nextDraft.trim() !== "" && Number.isFinite(parsed) && parsed >= -360 && parsed <= 360) {
+          onChange(parsed);
+        }
+      }}
+      onKeyDown={(event) => {
+        event.stopPropagation();
+        if (event.key === "Enter") event.currentTarget.blur();
+        if (event.key === "Escape") {
+          event.preventDefault();
+          cancelNextBlurRef.current = true;
+          finishEditing(false);
+          event.currentTarget.blur();
+        }
+      }}
+      onBlur={() => {
+        if (cancelNextBlurRef.current) {
+          cancelNextBlurRef.current = false;
+          return;
+        }
+        finishEditing(true);
+      }}
+    />
+  );
+}

apps/control-station/src/components/useApplicationPanelActions.ts

@@ -5,6 +5,7 @@ import type { WorkspaceDefinition } from "../productModel";
 
 interface ApplicationPanelActionsOptions {
   definition: WorkspaceDefinition | null;
+  onAddVehicle?: () => void;
   refreshRuntime: () => void;
   resetConnectionScenario?: () => Promise<boolean>;
   connectionScenarioResetting: boolean;
@@ -43,6 +44,7 @@ export function deviceRuntimeUtilityAction({
 
 export function useApplicationPanelActions({
   definition,
+  onAddVehicle,
   refreshRuntime,
   resetConnectionScenario,
   connectionScenarioResetting,
@@ -52,6 +54,7 @@ export function useApplicationPanelActions({
 }: ApplicationPanelActionsOptions): ApplicationPanelUtilityAction[] {
   return useMemo(() => {
     const actions: ApplicationPanelUtilityAction[] = [];
+    if (definition?.kind === "vehicles" && onAddVehicle) actions.push({ label: "Добавить аппарат", icon: "plus", onClick: onAddVehicle });
     if (definition?.kind === "device") {
       actions.push(deviceRuntimeUtilityAction({
         refreshRuntime,
@@ -71,6 +74,7 @@ export function useApplicationPanelActions({
     return actions;
   }, [
     definition,
+    onAddVehicle,
     refreshRuntime,
     resetConnectionScenario,
     connectionScenarioResetting,

apps/control-station/src/core/fleet/useFleet.ts

@@ -0,0 +1,61 @@
+import { useCallback, useEffect, useState } from "react";
+
+export interface BoardHost {
+  hostname: string; os: string; architecture: string; cpus: number;
+  memory_kib: number | null; collected_at: string;
+  networks: { name: string; up: boolean; addresses: string[] }[];
+  usb: { port: string; product: string }[];
+}
+export interface Vehicle {
+  id: string; node_id: string; name: string; platform: string;
+  enrollment: "pending" | "paired" | "revoked" | "failed";
+  connectivity: "online" | "offline"; last_seen: number | null;
+  host: BoardHost | null; notice: string; revision: number;
+}
+export interface FleetPreview {
+  preview_id: string; node_id: string; name: string; host: BoardHost;
+  endpoint: string; expires_at: number;
+}
+export async function fleetRequest<T>(path = "", method = "GET", body?: unknown): Promise<T> {
+  const response = await fetch(`/api/v1/fleet${path}`, {
+    method, credentials: "same-origin", cache: "no-store",
+    headers: body === undefined ? {} : { "Content-Type": "application/json" },
+    body: body === undefined ? undefined : JSON.stringify(body), signal: AbortSignal.timeout(12000),
+  });
+  if (!response.ok) {
+    const data = await response.json().catch(() => ({}));
+    throw new Error(typeof data.detail === "string" ? data.detail : "Не удалось выполнить действие с аппаратом.");
+  }
+  return response.json();
+}
+export function useFleet() {
+  const [items, setItems] = useState<Vehicle[] | null>(null);
+  const [error, setError] = useState("");
+  const refresh = useCallback(async () => {
+    const value = await fleetRequest<{ items: Vehicle[] }>();
+    setItems(value.items); setError(""); return value.items;
+  }, []);
+  useEffect(() => {
+    let active = true;
+    let fallback: ReturnType<typeof setInterval> | undefined;
+    const read = async () => {
+      try { const value = await fleetRequest<{ items: Vehicle[] }>(); if (active) { setItems(value.items); setError(""); } }
+      catch { if (active) setError("Реестр недоступен. Показаны последние полученные сведения; связь сейчас не подтверждена."); }
+    };
+    void read();
+    const events = new EventSource("/api/v1/fleet/events");
+    events.onmessage = event => {
+      if (!active) return;
+      try { const value = JSON.parse(event.data); setItems(value.items); setError(""); if (fallback) { clearInterval(fallback); fallback = undefined; } }
+      catch { unavailable(); }
+    };
+    const unavailable = () => {
+      if (!active) return;
+      setError("Связь обновляется. Показаны последние полученные сведения.");
+      if (!fallback) fallback = setInterval(() => void read(), 5000);
+    };
+    events.onerror = unavailable;
+    return () => { active = false; events.close(); if (fallback) clearInterval(fallback); };
+  }, []);
+  return { items, error, refresh };
+}

apps/control-station/src/core/laboratory/advancedIndex.ts

@@ -48,9 +48,13 @@ import { fetchM48SFixedClassDetectorResult } from "./m48sFixedClassDetector";
 import { fetchM48TRiskQualityResult } from "./m48tRiskQuality";
 import { fetchM49TgsFailClosedResult } from "./m49TgsFailClosed";
 import { fetchM49TgsFullShadowResult } from "./m49TgsFullShadow";
-import { fetchVegetationShadowResult } from "./vegetationShadow";
+import {
+  fetchVegetationBenchmarkResult,
+  fetchVegetationShadowResult,
+} from "./vegetationShadow";
 
 export type AdvancedLaboratoryWorkId =
+  | "lab-v1-vegetation-benchmark"
   | "lab-v1-vegetation-shadow"
   | "m48-object-centric-quality"
   | "m48-small-static-passage-regression"
@@ -102,6 +106,7 @@ export interface AdvancedLaboratoryIndexItem {
 }
 
 const WORK_IDS: readonly AdvancedLaboratoryWorkId[] = [
+  "lab-v1-vegetation-benchmark",
   "lab-v1-vegetation-shadow",
   "m48-object-centric-quality",
   "m48-small-static-passage-regression",
@@ -148,6 +153,7 @@ const WORK_IDS: readonly AdvancedLaboratoryWorkId[] = [
 ];
 
 const RESULT_PREFIX: Readonly<Record<AdvancedLaboratoryWorkId, string>> = {
+  "lab-v1-vegetation-benchmark": "lab-v1-vegetation-benchmark",
   "lab-v1-vegetation-shadow": "lab-v1-vegetation-shadow",
   "m48-object-centric-quality": "m48-object-quality-(?:pack|result)",
   "m48-small-static-passage-regression": "m48-small-static-passage-regression",
@@ -201,6 +207,7 @@ export function isAdvancedLaboratoryWorkId(
 
 export function emptyAdvancedLaboratoryResults(): AdvancedLaboratoryResults {
   return {
+    vegetationBenchmark: null,
     vegetationShadow: null,
     m47Graph: null,
     m48: null,
@@ -335,7 +342,8 @@ export function advancedLaboratoryResultAvailable(
   workId: AdvancedLaboratoryWorkId,
   results: AdvancedLaboratoryResults,
 ): boolean {
-  return workId === "lab-v1-vegetation-shadow" ? results.vegetationShadow !== null
+  return workId === "lab-v1-vegetation-benchmark" ? results.vegetationBenchmark !== null
+    : workId === "lab-v1-vegetation-shadow" ? results.vegetationShadow !== null
     : workId === "m48-object-centric-quality" ? results.m48 !== null
     : workId === "m48-small-static-passage-regression" ? results.m48SmallStatic !== null
     : workId === "m48-static-occupancy-qualification" ? results.m48StaticOccupancy !== null
@@ -393,7 +401,10 @@ export async function fetchAdvancedLaboratoryResult(
   } = {},
 ): Promise<AdvancedLaboratoryResults> {
   const results = emptyAdvancedLaboratoryResults();
-  if (workId === "lab-v1-vegetation-shadow") {
+  if (workId === "lab-v1-vegetation-benchmark") {
+    if (!resultId) throw new AdvancedLaboratoryContractError("Vegetation benchmark identity не выбрана.");
+    results.vegetationBenchmark = await fetchVegetationBenchmarkResult(resultId, { fetcher, signal });
+  } else if (workId === "lab-v1-vegetation-shadow") {
     if (!resultId) throw new AdvancedLaboratoryContractError("Vegetation LAB identity не выбрана.");
     results.vegetationShadow = await fetchVegetationShadowResult(resultId, { fetcher, signal });
   } else if (workId === "m48-object-centric-quality") {

apps/control-station/src/core/laboratory/advancedLaboratoryResults.ts

@@ -45,6 +45,7 @@ import type { M49TgsFullShadowResult } from "./m49TgsFullShadow";
 import type { VegetationShadowResult } from "./vegetationShadow";
 
 export interface AdvancedLaboratoryResults {
+  vegetationBenchmark: VegetationShadowResult | null;
   vegetationShadow: VegetationShadowResult | null;
   m47Graph: M47ReferenceGraphLabResult | null;
   m48: M48AdvancedResult | null;

apps/control-station/src/core/laboratory/advancedResults.ts

@@ -29,7 +29,6 @@ export interface E31LaboratoryResult {
   limitations: readonly string[];
   access: "read-only";
 }
-
 export interface E32LaboratoryResult {
   resultId: string;
   createdAtUtc: string | null;
@@ -53,7 +52,6 @@ export interface E32LaboratoryResult {
   };
   access: "read-only";
 }
-
 export interface E33LaboratoryResult {
   resultId: string;
   createdAtUtc: string | null;
@@ -967,6 +965,7 @@ export async function fetchAdvancedLaboratoryResults({
   const e39 = settledCatalogValue(settled[7]);
   const e40 = settledCatalogValue(settled[8]);
   return {
+    vegetationBenchmark: null,
     vegetationShadow: null,
     m47Graph: null, m48: null, m48SmallStatic: null, m48StaticOccupancy: null,
     m48r3StaticOccupancy: null,

apps/control-station/src/core/laboratory/canonicalLabReplay.ts

@@ -0,0 +1,134 @@
+import type { ObservationSessionReplayLaunch } from "../observation/sessionArchive";
+import type { RecordedRrdArtifactDescriptor } from "../observation/viewerProfile";
+
+const SAFE_RESULT_ID = /^lab-v1-vegetation-shadow-[a-f0-9]{64}$/;
+const SAFE_SESSION_SOURCE = /^\/api\/v1\/observation-sessions\/[A-Za-z0-9][A-Za-z0-9._:-]{0,127}\/recording\.rrd$/;
+const MAX_CANONICAL_REPLAY_BYTES = 1024 * 1024 * 1024;
+
+export interface CanonicalLabReplayDescriptor extends RecordedRrdArtifactDescriptor {
+  blueprintSourceUrl: string;
+}
+
+/**
+ * Resolve the one immutable RRD used by the canonical recorded LAB.
+ *
+ * The server caches the merge of the sealed spatial recording and the LAB AI
+ * evidence. Rerun therefore opens one source and cannot present the base store
+ * before a second receiver has finished decoding the semantic layer.
+ */
+export async function resolveCanonicalLabReplay(
+  resultId: string,
+  launch: ObservationSessionReplayLaunch,
+  {
+    origin = window.location.origin,
+    signal,
+    fetcher = globalThis.fetch,
+    sourceKind = "legacy-vegetation",
+  }: {
+    origin?: string;
+    signal?: AbortSignal;
+    fetcher?: typeof globalThis.fetch;
+    sourceKind?: "legacy-vegetation" | "portable-tgs" | "portable-semantic" | "portable-objects";
+  } = {},
+): Promise<CanonicalLabReplayDescriptor> {
+  const base = new URL(origin);
+  if (
+    !(sourceKind === "portable-tgs"
+      ? /^m49-tgs-portable-review-[a-f0-9]{64}$/.test(resultId)
+      : sourceKind === "portable-semantic"
+        ? /^(?:lab-v1-eomt-ddrnet|ai-layer-(?:ddrnet|eomt))-[a-f0-9]{64}$/.test(resultId)
+        : sourceKind === "portable-objects"
+          ? /^ai-layer-(?:rf-detr|object-distance)-[a-f0-9]{64}$/.test(resultId)
+        : SAFE_RESULT_ID.test(resultId))
+    || !SAFE_SESSION_SOURCE.test(launch.sourceUrl)
+    || launch.viewerSourceUrl !== `${launch.sourceUrl}?generation=${launch.sha256}`
+    || !/^[a-f0-9]{64}$/.test(launch.sha256)
+  ) {
+    throw new Error("Канонический replay LAB имеет небезопасный descriptor.");
+  }
+  const sourceUrl = sourceKind !== "legacy-vegetation"
+    ? `/api/v1/observatory/portable-results/${resultId}/replays/${launch.sha256}/recording.rrd`
+    : `/api/v1/laboratory/vegetation-shadow/${encodeURIComponent(resultId)}/canonical-replay.rrd`;
+  const descriptorUrl = new URL(sourceUrl, `${base.origin}/`);
+  if (sourceKind === "legacy-vegetation") descriptorUrl.searchParams.set("base_generation", launch.sha256);
+  if (descriptorUrl.origin !== base.origin) {
+    throw new Error("Канонический replay LAB должен быть same-origin.");
+  }
+  const response = await fetcher(descriptorUrl.href, {
+    method: "HEAD",
+    credentials: "same-origin",
+    headers: { Accept: "application/vnd.rerun.rrd" },
+    signal,
+  });
+  const contentType = response.headers.get("Content-Type")?.split(";", 1)[0].trim();
+  const byteLength = Number(response.headers.get("Content-Length"));
+  const sha256 = response.headers.get("ETag")?.match(/^"([a-f0-9]{64})"$/)?.[1];
+  if (
+    response.status !== 200
+    || contentType !== "application/vnd.rerun.rrd"
+    || response.headers.get("X-Rerun-Format") !== "RRF2"
+    || !sha256
+    || !Number.isSafeInteger(byteLength)
+    || byteLength < 4
+    || byteLength > MAX_CANONICAL_REPLAY_BYTES
+  ) {
+    throw new Error("Единый replay LAB не прошёл проверку.");
+  }
+  return {
+    sourceUrl,
+    viewerSourceUrl: `${sourceUrl}?generation=${sha256}`,
+    byteLength,
+    sha256,
+    blueprintSourceUrl: launch.sourceUrl.replace(/\/recording\.rrd$/, "/blueprint.rrd"),
+  };
+}
+
+export async function resolveAICompositionReplay(
+  runId: string,
+  launch: ObservationSessionReplayLaunch,
+  {
+    origin = window.location.origin,
+    signal,
+    fetcher = globalThis.fetch,
+  }: {
+    origin?: string;
+    signal?: AbortSignal;
+    fetcher?: typeof globalThis.fetch;
+  } = {},
+): Promise<CanonicalLabReplayDescriptor> {
+  const base = new URL(origin);
+  if (
+    !/^ai-composition-[a-f0-9]{64}$/.test(runId)
+    || !SAFE_SESSION_SOURCE.test(launch.sourceUrl)
+    || launch.viewerSourceUrl !== `${launch.sourceUrl}?generation=${launch.sha256}`
+    || !/^[a-f0-9]{64}$/.test(launch.sha256)
+  ) {
+    throw new Error("Составной replay LAB имеет небезопасный descriptor.");
+  }
+  const sourceUrl = `/api/v1/observatory/ai-composition-runs/${runId}/replays/${launch.sha256}/recording.rrd`;
+  const descriptorUrl = new URL(sourceUrl, `${base.origin}/`);
+  const response = await fetcher(descriptorUrl.href, {
+    method: "HEAD",
+    credentials: "same-origin",
+    headers: { Accept: "application/vnd.rerun.rrd" },
+    signal,
+  });
+  const contentType = response.headers.get("Content-Type")?.split(";", 1)[0].trim();
+  const byteLength = Number(response.headers.get("Content-Length"));
+  const sha256 = response.headers.get("ETag")?.match(/^"([a-f0-9]{64})"$/)?.[1];
+  if (
+    response.status !== 200 || contentType !== "application/vnd.rerun.rrd"
+    || response.headers.get("X-Rerun-Format") !== "RRF2" || !sha256
+    || !Number.isSafeInteger(byteLength) || byteLength < 4
+    || byteLength > MAX_CANONICAL_REPLAY_BYTES
+  ) {
+    throw new Error("Составной replay LAB не прошёл проверку.");
+  }
+  return {
+    sourceUrl,
+    viewerSourceUrl: `${sourceUrl}?generation=${sha256}`,
+    byteLength,
+    sha256,
+    blueprintSourceUrl: launch.sourceUrl.replace(/\/recording\.rrd$/, "/blueprint.rrd"),
+  };
+}

apps/control-station/src/core/laboratory/canonicalRecordedLab.ts

@@ -0,0 +1,99 @@
+export const CANONICAL_RECORDED_LAB_TGS_HISTORY_SECONDS = 1;
+export const CANONICAL_RECORDED_LAB_SPATIAL_PROFILE = "source-paced-ground-v3";
+
+export interface CanonicalRecordedLabPackedCellEvidence {
+  centersBodyXyM: Float32Array;
+  zBoundsM: Float32Array;
+  stateCodes: Uint8Array;
+}
+
+export interface CanonicalRecordedLabBodyGroundFrame {
+  originMapXyzM: readonly [number, number, number];
+  sensorOriginMapXyzM: readonly [number, number, number];
+  basisMapFromBody: readonly [
+    readonly [number, number, number],
+    readonly [number, number, number],
+    readonly [number, number, number],
+  ];
+}
+
+export interface CanonicalRecordedLabTgsCostmap {
+  centersXyM: readonly (readonly [number, number])[];
+  stateCodes: readonly number[];
+  zBoundsM: readonly (readonly [number | null, number | null])[];
+}
+
+export function canonicalRecordedLabTgsIsCurrent(
+  currentTimeNs: number,
+  anchorTimeNs: number,
+  historySeconds = CANONICAL_RECORDED_LAB_TGS_HISTORY_SECONDS,
+): boolean {
+  if (
+    !Number.isSafeInteger(currentTimeNs)
+    || !Number.isSafeInteger(anchorTimeNs)
+    || !Number.isFinite(historySeconds)
+    || historySeconds <= 0
+  ) return false;
+  const ageNs = currentTimeNs - anchorTimeNs;
+  return ageNs >= 0 && ageNs <= Math.round(historySeconds * 1_000_000_000);
+}
+
+export function canonicalMapGravityLocalPointToBodyGround(
+  point: readonly [number, number, number],
+  anchor: CanonicalRecordedLabBodyGroundFrame,
+  current: CanonicalRecordedLabBodyGroundFrame,
+): readonly [number, number, number] {
+  // TGS is translation-only map-gravity-local: its axes are map axes and its
+  // origin is the LiDAR at the source frame. It is not an anchor body frame.
+  const map: readonly [number, number, number] = [
+    anchor.sensorOriginMapXyzM[0] + point[0],
+    anchor.sensorOriginMapXyzM[1] + point[1],
+    anchor.sensorOriginMapXyzM[2] + point[2],
+  ];
+  const delta: readonly [number, number, number] = [
+    map[0] - current.originMapXyzM[0],
+    map[1] - current.originMapXyzM[1],
+    map[2] - current.originMapXyzM[2],
+  ];
+  return [
+    current.basisMapFromBody[0][0] * delta[0]
+      + current.basisMapFromBody[1][0] * delta[1]
+      + current.basisMapFromBody[2][0] * delta[2],
+    current.basisMapFromBody[0][1] * delta[0]
+      + current.basisMapFromBody[1][1] * delta[1]
+      + current.basisMapFromBody[2][1] * delta[2],
+    current.basisMapFromBody[0][2] * delta[0]
+      + current.basisMapFromBody[1][2] * delta[1]
+      + current.basisMapFromBody[2][2] * delta[2],
+  ];
+}
+
+export function canonicalRecordedLabPackedTgsCells(
+  costmap: CanonicalRecordedLabTgsCostmap,
+  anchor: CanonicalRecordedLabBodyGroundFrame,
+  current: CanonicalRecordedLabBodyGroundFrame,
+): CanonicalRecordedLabPackedCellEvidence {
+  if (
+    costmap.centersXyM.length !== costmap.stateCodes.length
+    || costmap.centersXyM.length !== costmap.zBoundsM.length
+  ) throw new Error("Canonical recorded LAB TGS accounting changed");
+  const centers: number[] = [];
+  const zBounds: number[] = [];
+  costmap.centersXyM.forEach(([x, y], index) => {
+    const bounds = costmap.zBoundsM[index] ?? [null, null];
+    const center = canonicalMapGravityLocalPointToBodyGround([x, y, 0], anchor, current);
+    centers.push(center[0], center[1]);
+    if (bounds[0] === null || bounds[1] === null) {
+      zBounds.push(Number.NaN, Number.NaN);
+      return;
+    }
+    const bottom = canonicalMapGravityLocalPointToBodyGround([x, y, bounds[0]], anchor, current);
+    const top = canonicalMapGravityLocalPointToBodyGround([x, y, bounds[1]], anchor, current);
+    zBounds.push(Math.min(bottom[2], top[2]), Math.max(bottom[2], top[2]));
+  });
+  return {
+    centersBodyXyM: Float32Array.from(centers),
+    zBoundsM: Float32Array.from(zBounds),
+    stateCodes: Uint8Array.from(costmap.stateCodes),
+  };
+}

apps/control-station/src/core/laboratory/canonicalRecordedLabSpatial.ts

@@ -0,0 +1,259 @@
+import type { LaboratoryFetch } from "./advancedResults";
+import { CANONICAL_RECORDED_LAB_SPATIAL_PROFILE } from "./canonicalRecordedLab";
+
+const SAFE_SESSION_ID = /^[A-Za-z0-9][A-Za-z0-9._:-]{0,127}$/;
+const SHA256 = /^[a-f0-9]{64}$/;
+
+export class CanonicalRecordedLabSpatialContractError extends Error {}
+
+export interface CanonicalRecordedLabSpatialFrame {
+  targetTimeNs: number;
+  sourceTimeNs: number;
+  poseTimeNs: number;
+  trajectoryTimeNs: number;
+  sourcePointCount: number;
+  coordinateFrame: "body-ground";
+  sensorHeight: {
+    meters: number;
+    source: "local-source-cloud-ground-quantile-median" | "session-source-cloud-fallback";
+    sampleCount: number;
+    madM: number;
+    authority: "visual-derived";
+  };
+  spatialProfile: {
+    profileId: typeof CANONICAL_RECORDED_LAB_SPATIAL_PROFILE;
+    localSlamHistorySeconds: number;
+    localSlamRadiusM: number;
+    localSlamVoxelSizeM: number;
+    localSlamPointLimit: number;
+  };
+  bodyFrame: {
+    originMapXyzM: readonly [number, number, number];
+    sensorOriginMapXyzM: readonly [number, number, number];
+    basisMapFromBody: readonly [
+      readonly [number, number, number],
+      readonly [number, number, number],
+      readonly [number, number, number],
+    ];
+  };
+  sourcePointsBodyXyzM: readonly (readonly [number, number, number])[];
+  localSlamSourceFrameCount: number;
+  localSlamSourcePointCount: number;
+  localSlamBodyXyzM: readonly (readonly [number, number, number])[];
+}
+
+function objectValue(value: unknown, label: string): Record<string, unknown> {
+  if (!value || typeof value !== "object" || Array.isArray(value)) {
+    throw new CanonicalRecordedLabSpatialContractError(`${label}: ожидался объект.`);
+  }
+  return value as Record<string, unknown>;
+}
+
+function arrayValue(value: unknown, label: string): unknown[] {
+  if (!Array.isArray(value)) {
+    throw new CanonicalRecordedLabSpatialContractError(`${label}: ожидался массив.`);
+  }
+  return value;
+}
+
+function exact(value: unknown, expected: unknown, label: string): void {
+  if (value !== expected) {
+    throw new CanonicalRecordedLabSpatialContractError(`${label}: контракт изменён.`);
+  }
+}
+
+function numberValue(value: unknown, label: string): number {
+  if (typeof value !== "number" || !Number.isFinite(value)) {
+    throw new CanonicalRecordedLabSpatialContractError(`${label}: ожидалось число.`);
+  }
+  return value;
+}
+
+function integerValue(value: unknown, label: string): number {
+  const parsed = numberValue(value, label);
+  if (!Number.isSafeInteger(parsed) || parsed < 0) {
+    throw new CanonicalRecordedLabSpatialContractError(`${label}: ожидалось целое значение.`);
+  }
+  return parsed;
+}
+
+function pointList(
+  value: unknown,
+  label: string,
+): readonly (readonly [number, number, number])[] {
+  return arrayValue(value, label).map((entry, index) => {
+    const point = arrayValue(entry, `${label}[${index}]`).map(
+      (channel, channelIndex) => numberValue(channel, `${label}[${index}][${channelIndex}]`),
+    );
+    if (point.length !== 3) {
+      throw new CanonicalRecordedLabSpatialContractError(`${label}[${index}]: размер изменён.`);
+    }
+    return [point[0]!, point[1]!, point[2]!] as const;
+  });
+}
+
+export async function fetchCanonicalRecordedLabSpatialFrame(
+  sessionId: string,
+  generationSha256: string,
+  targetTimeNs: number,
+  {
+    fetcher = fetch,
+    signal,
+  }: { fetcher?: LaboratoryFetch; signal?: AbortSignal } = {},
+): Promise<CanonicalRecordedLabSpatialFrame> {
+  if (
+    !SAFE_SESSION_ID.test(sessionId)
+    || !SHA256.test(generationSha256)
+    || !Number.isSafeInteger(targetTimeNs)
+    || targetTimeNs < 0
+  ) {
+    throw new CanonicalRecordedLabSpatialContractError(
+      "Canonical LAB spatial identity недопустима.",
+    );
+  }
+  const query = new URLSearchParams({
+    generation: generationSha256,
+    time_ns: String(targetTimeNs),
+    profile: CANONICAL_RECORDED_LAB_SPATIAL_PROFILE,
+  });
+  const response = await fetcher(
+    `/api/v1/observation-sessions/${encodeURIComponent(sessionId)}`
+      + `/canonical-lab/spatial-frame?${query.toString()}`,
+    { method: "GET", headers: { Accept: "application/json" }, signal },
+  );
+  if (!response.ok) {
+    throw new CanonicalRecordedLabSpatialContractError(
+      `Canonical LAB spatial frame недоступен: HTTP ${response.status}.`,
+    );
+  }
+  const payload = objectValue(await response.json(), "canonical_lab.spatial_frame");
+  exact(
+    payload.schema_version,
+    "missioncore.canonical-recorded-lab-spatial-frame/v3",
+    "canonical_lab.spatial_frame.schema_version",
+  );
+  exact(payload.coordinate_frame, "body-ground", "canonical_lab.spatial_frame.coordinate_frame");
+  exact(payload.target_time_ns, targetTimeNs, "canonical_lab.spatial_frame.target_time_ns");
+  const sourcePoints = pointList(
+    payload.source_points_body_xyz_m,
+    "canonical_lab.spatial_frame.source_points",
+  );
+  const localSlam = pointList(
+    payload.local_slam_body_xyz_m,
+    "canonical_lab.spatial_frame.local_slam",
+  );
+  const sourcePointCount = integerValue(
+    payload.source_point_count,
+    "canonical_lab.spatial_frame.source_point_count",
+  );
+  const localSlamPointCount = integerValue(
+    payload.local_slam_point_count,
+    "canonical_lab.spatial_frame.local_slam_point_count",
+  );
+  if (
+    sourcePointCount !== sourcePoints.length
+    || sourcePointCount > 100_000
+    || localSlamPointCount !== localSlam.length
+    || localSlam.length > 27_000
+  ) {
+    throw new CanonicalRecordedLabSpatialContractError(
+      "Canonical LAB spatial accounting изменён.",
+    );
+  }
+  const bodyFrame = objectValue(payload.body_frame, "canonical_lab.spatial_frame.body_frame");
+  const origin = pointList(
+    [bodyFrame.origin_map_xyz_m],
+    "canonical_lab.spatial_frame.body_frame.origin",
+  )[0]!;
+  const sensorOrigin = pointList(
+    [bodyFrame.sensor_origin_map_xyz_m],
+    "canonical_lab.spatial_frame.body_frame.sensor_origin",
+  )[0]!;
+  const basisRows = pointList(
+    bodyFrame.basis_map_from_body,
+    "canonical_lab.spatial_frame.body_frame.basis",
+  );
+  if (basisRows.length !== 3) {
+    throw new CanonicalRecordedLabSpatialContractError(
+      "Canonical LAB spatial basis изменён.",
+    );
+  }
+  const sensorHeight = objectValue(payload.sensor_height, "canonical_lab.spatial_frame.sensor_height");
+  if (
+    sensorHeight.source !== "local-source-cloud-ground-quantile-median"
+    && sensorHeight.source !== "session-source-cloud-fallback"
+  ) {
+    throw new CanonicalRecordedLabSpatialContractError(
+      "canonical_lab.spatial_frame.sensor_height.source: контракт изменён.",
+    );
+  }
+  exact(
+    sensorHeight.authority,
+    "visual-derived",
+    "canonical_lab.spatial_frame.sensor_height.authority",
+  );
+  const spatialProfile = objectValue(
+    payload.spatial_profile,
+    "canonical_lab.spatial_frame.spatial_profile",
+  );
+  exact(
+    spatialProfile.profile_id,
+    CANONICAL_RECORDED_LAB_SPATIAL_PROFILE,
+    "canonical_lab.spatial_frame.spatial_profile.profile_id",
+  );
+  return {
+    targetTimeNs,
+    sourceTimeNs: integerValue(payload.source_time_ns, "canonical_lab.spatial_frame.source_time_ns"),
+    poseTimeNs: integerValue(payload.pose_time_ns, "canonical_lab.spatial_frame.pose_time_ns"),
+    trajectoryTimeNs: integerValue(
+      payload.trajectory_time_ns,
+      "canonical_lab.spatial_frame.trajectory_time_ns",
+    ),
+    sourcePointCount,
+    coordinateFrame: "body-ground",
+    sensorHeight: {
+      meters: numberValue(sensorHeight.meters, "canonical_lab.spatial_frame.sensor_height.meters"),
+      source: sensorHeight.source,
+      sampleCount: integerValue(
+        sensorHeight.sample_count,
+        "canonical_lab.spatial_frame.sensor_height.sample_count",
+      ),
+      madM: numberValue(sensorHeight.mad_m, "canonical_lab.spatial_frame.sensor_height.mad_m"),
+      authority: "visual-derived",
+    },
+    spatialProfile: {
+      profileId: CANONICAL_RECORDED_LAB_SPATIAL_PROFILE,
+      localSlamHistorySeconds: numberValue(
+        spatialProfile.local_slam_history_seconds,
+        "canonical_lab.spatial_frame.spatial_profile.history",
+      ),
+      localSlamRadiusM: numberValue(
+        spatialProfile.local_slam_radius_m,
+        "canonical_lab.spatial_frame.spatial_profile.radius",
+      ),
+      localSlamVoxelSizeM: numberValue(
+        spatialProfile.local_slam_voxel_size_m,
+        "canonical_lab.spatial_frame.spatial_profile.voxel",
+      ),
+      localSlamPointLimit: integerValue(
+        spatialProfile.local_slam_point_limit,
+        "canonical_lab.spatial_frame.spatial_profile.limit",
+      ),
+    },
+    bodyFrame: {
+      originMapXyzM: origin,
+      sensorOriginMapXyzM: sensorOrigin,
+      basisMapFromBody: [basisRows[0]!, basisRows[1]!, basisRows[2]!],
+    },
+    sourcePointsBodyXyzM: sourcePoints,
+    localSlamSourceFrameCount: integerValue(
+      payload.local_slam_source_frame_count,
+      "canonical_lab.spatial_frame.local_slam_source_frames",
+    ),
+    localSlamSourcePointCount: integerValue(
+      payload.local_slam_source_point_count,
+      "canonical_lab.spatial_frame.local_slam_source_points",
+    ),
+    localSlamBodyXyzM: localSlam,
+  };
+}

apps/control-station/src/core/laboratory/m4ReplayThreat.ts

@@ -154,6 +154,9 @@ export interface M4ThreatTimelineFrame {
   pointCloudSourceCount: number;
   pointCloudSampleCount: number;
   pointCloudLayer: "current-increment";
+  localSlamBodyXyzM?: readonly M4Point3[];
+  localSlamSourceFrameCount?: number;
+  localSlamSourcePointCount?: number;
   cameraProjectedPointsXyd: readonly (readonly [number, number, number])[];
   cameraProjectedSourceCount: number;
   cameraProjectedPointCount: number;
@@ -168,10 +171,11 @@ export interface M4ThreatTimelineFrame {
 
 export interface M4ThreatTimeline {
   resultId: string;
-  recordedSourceSessionId: "20260720T065719Z_viewer_live";
+  recordedSourceSessionId: string;
+  recordedSourceId: string;
   imageWidth: 800;
   imageHeight: 600;
-  frameCount: 4489;
+  frameCount: number;
   frameTimesNs: readonly number[];
   timelineStartSeconds: number;
   timelineEndSeconds: number;
@@ -234,7 +238,7 @@ export interface M4ThreatPlaybackProgress {
 
 export interface M4ThreatPlaybackPointPack {
   resultId: string;
-  frameCount: 4489;
+  frameCount: number;
   pointCount: number;
   pointOffsets: Uint32Array;
   pointsMapXyzM: Float32Array;
@@ -257,7 +261,7 @@ export interface M4ThreatPlaybackChunkDescriptor {
 
 export interface M4ThreatPlaybackManifest {
   resultId: string;
-  frameCount: 4489;
+  frameCount: number;
   pointCount: number;
   pointOffsets: Uint32Array;
   chunkFrameCount: 24;
@@ -337,7 +341,7 @@ const motion = (value: unknown): M4ThreatMotion => {
 };
 const resultId = (value: unknown): string => {
   const parsed = text(value, "M4.6 result id");
-  if (!/^m4-threat-replay-[a-f0-9]{64}$/.test(parsed)) {
+  if (!/^[a-z0-9][a-z0-9-]{0,127}-[a-f0-9]{64}$/.test(parsed)) {
     throw new M4ThreatContractError("M4.6 result id: нарушена идентичность.");
   }
   return parsed;
@@ -704,12 +708,8 @@ export async function fetchM4ThreatTimeline(
   exact(payload.result_id, result, "M4.6 timeline result");
   exact(payload.authority, "replay-simulated", "M4.6 timeline authority");
   const recorded = object(payload.recorded_source, "M4.6 recorded source");
-  exact(
-    recorded.session_id,
-    "20260720T065719Z_viewer_live",
-    "M4.6 recorded session",
-  );
-  exact(recorded.source_id, "RAVNOVES00", "M4.6 recorded source id");
+  const recordedSessionId = text(recorded.session_id, "M4.6 recorded session");
+  const recordedSourceId = text(recorded.source_id, "M4.6 recorded source id");
   exact(
     recorded.representation_id,
     "registered-map-increment-v1",
@@ -720,7 +720,10 @@ export async function fetchM4ThreatTimeline(
     "host-arrival-best-effort",
     "M4.6 recorded synchronization",
   );
-  const frameCount = exact(payload.frame_count, 4489, "M4.6 timeline frame count");
+  const frameCount = integer(payload.frame_count, "M4.6 timeline frame count");
+  if (frameCount < 1) {
+    throw new M4ThreatContractError("M4.6 timeline frame count: пустой timeline.");
+  }
   const frameTimesNs = array(payload.frame_times_ns, "M4.6 timeline index").map(
     (value) => integer(value, "M4.6 timeline time"),
   );
@@ -738,7 +741,8 @@ export async function fetchM4ThreatTimeline(
   );
   return {
     resultId: result,
-    recordedSourceSessionId: "20260720T065719Z_viewer_live",
+    recordedSourceSessionId: recordedSessionId,
+    recordedSourceId,
     imageWidth: exact(payload.image_width, 800, "M4.6 image width"),
     imageHeight: exact(payload.image_height, 600, "M4.6 image height"),
     frameCount,
@@ -849,12 +853,14 @@ export async function fetchM4ThreatTimelineChunk(
     endpointRoot = M4_THREAT_TIMELINE_ENDPOINT_ROOT,
     cameraObstacleProjectionDelivery = null,
     playbackPointPack,
+    includePoints = true,
   }: {
     fetcher?: LaboratoryFetch;
     signal?: AbortSignal;
     endpointRoot?: string;
     cameraObstacleProjectionDelivery?: M4ThreatTimeline["cameraObstacleProjectionDelivery"];
     playbackPointPack?: M4ThreatPlaybackPointPack;
+    includePoints?: boolean;
   } = {},
 ): Promise<M4ThreatTimelineChunk> {
   const params = new URLSearchParams({
@@ -864,7 +870,7 @@ export async function fetchM4ThreatTimelineChunk(
   if (cameraObstacleProjectionDelivery !== null) {
     params.set("obstacle_projection", cameraObstacleProjectionDelivery);
   }
-  if (playbackPointPack) params.set("include_points", "false");
+  if (playbackPointPack || !includePoints) params.set("include_points", "false");
   const response = await fetcher(
     `${endpointRoot}/${result}/timeline/chunk?${params}`,
     { headers: { Accept: "application/json" }, signal },
@@ -995,7 +1001,10 @@ export async function fetchM4ThreatPlaybackManifest(
   exact(manifest.result_id, result, "M4.6 playback result");
   exact(manifest.coordinate_frame, "map", "M4.6 playback coordinate frame");
   exact(manifest.access, "read-only-sealed-binary-playback", "M4.6 playback access");
-  const frameCount = exact(integer(manifest.frame_count, "M4.6 playback frames"), 4489, "M4.6 playback frames");
+  const frameCount = integer(manifest.frame_count, "M4.6 playback frames");
+  if (frameCount < 1) {
+    throw new M4ThreatContractError("M4.6 playback frames: пустой playback недопустим.");
+  }
   const pointCount = integer(manifest.point_count, "M4.6 playback points");
   const offsetsRaw = array(manifest.point_offsets, "M4.6 playback offsets");
   if (offsetsRaw.length !== frameCount + 1) {
@@ -1332,6 +1341,17 @@ function parseTimelineFrame(
       "current-increment",
       "M4.6 timeline point layer",
     ),
+    localSlamBodyXyzM: item.local_slam_body_xyz_m === undefined
+      ? []
+      : array(item.local_slam_body_xyz_m, "M4.6 local SLAM points").map(
+          (point) => vector(point, 3, "M4.6 local SLAM point") as [number, number, number],
+        ),
+    localSlamSourceFrameCount: item.local_slam_source_frame_count === undefined
+      ? undefined
+      : integer(item.local_slam_source_frame_count, "M4.6 local SLAM source frames"),
+    localSlamSourcePointCount: item.local_slam_source_point_count === undefined
+      ? undefined
+      : integer(item.local_slam_source_point_count, "M4.6 local SLAM source points"),
     cameraProjectedPointsXyd: item.camera_projected_points_xyd === undefined
       ? []
       : array(item.camera_projected_points_xyd, "M4.6 camera points").map(

apps/control-station/src/core/laboratory/recordedEvidenceProfile.ts

@@ -0,0 +1,57 @@
+import {
+  LABORATORY_RECORDED_EVIDENCE_VIEWER_PROFILE,
+  type LaboratoryRecordedEvidenceViewerProfile,
+} from "../observation/viewerProfile";
+
+export type LaboratoryRecordedMediaMode = "video" | "camera" | null;
+export type LaboratoryRecordedSpatialMode = "3d" | "plan" | null;
+export type LaboratoryClassifiedSpatialMode = "none" | "overlay" | "replace-source";
+
+export interface LaboratoryRecordedEvidenceVisibility {
+  mediaMode: LaboratoryRecordedMediaMode;
+  spatialMode: LaboratoryRecordedSpatialMode;
+  showMediaSemantic: boolean;
+  showSpatialSemantic: boolean;
+  showMediaPoints: boolean;
+  classifiedSpatialMode: LaboratoryClassifiedSpatialMode;
+}
+
+export interface LaboratoryRecordedEvidenceDemand {
+  sourceTimelineMetadata: true;
+  recordedVideo: boolean;
+  exactCameraFrame: boolean;
+  sourceSpatialPoints: boolean;
+  cameraPointOverlay: boolean;
+  selectedSemanticMask: boolean;
+  selectedSemanticPoints: boolean;
+  classifiedSpatial: boolean;
+}
+
+/**
+ * Translate the already-visible M4 evidence composition into explicit data
+ * demand. The profile never starts a hidden point, semantic or camera channel
+ * merely because the selected LAB happens to publish that artifact.
+ */
+export function laboratoryRecordedEvidenceDemand(
+  visibility: LaboratoryRecordedEvidenceVisibility,
+  profile: LaboratoryRecordedEvidenceViewerProfile =
+    LABORATORY_RECORDED_EVIDENCE_VIEWER_PROFILE,
+): LaboratoryRecordedEvidenceDemand {
+  if (profile.loadPolicy !== "explicit-legacy-comparison-only") {
+    throw new Error("Unsupported LAB recorded evidence load policy");
+  }
+  const mediaVisible = visibility.mediaMode !== null;
+  const spatialVisible = visibility.spatialMode !== null;
+  return {
+    sourceTimelineMetadata: true,
+    recordedVideo: visibility.mediaMode === "video",
+    exactCameraFrame: visibility.mediaMode === "camera",
+    sourceSpatialPoints:
+      spatialVisible && visibility.classifiedSpatialMode !== "replace-source",
+    cameraPointOverlay: mediaVisible && visibility.showMediaPoints,
+    selectedSemanticMask: mediaVisible && visibility.showMediaSemantic,
+    selectedSemanticPoints: spatialVisible && visibility.showSpatialSemantic,
+    classifiedSpatial:
+      spatialVisible && visibility.classifiedSpatialMode !== "none",
+  };
+}

apps/control-station/src/core/laboratory/vegetationShadow.ts

@@ -1,6 +1,7 @@
 import type { LaboratoryFetch } from "./advancedResults";
 
 const RESULT_ID = /^lab-v1-vegetation-shadow-[a-f0-9]{64}$/;
+const BENCHMARK_RESULT_ID = /^lab-v1-vegetation-benchmark-[a-f0-9]{64}$/;
 const SHA256 = /^[a-f0-9]{64}$/;
 const CANDIDATES = ["ddrnet", "ppliteseg"] as const;
 const ROUTE_MODES = ["source", "ddrnet", "ppliteseg", "urban", "rural", "offroad"] as const;
@@ -55,7 +56,9 @@ export interface VegetationVideoSemanticClass {
   classId: number;
   label: string;
   colorRgb: readonly [number, number, number];
-  disposition: "prediction" | "undefined";
+  disposition: "labeled" | "ambiguous" | "prediction" | "undefined";
+  materialClass: string | null;
+  evidenceState: string | null;
 }
 
 export interface VegetationRouteVideo {
@@ -67,8 +70,90 @@ export interface VegetationRouteVideo {
   height: 600;
   centerCropXyxy: readonly [100, 0, 700, 600];
   outsideCropState: "undefined";
+  viewKind: "fine-semantic-prediction" | "coarse-material-policy-review";
+  linkedTgsResultId: string | null;
   taxonomy: readonly VegetationVideoSemanticClass[];
   aggregatePredictionPixels: readonly number[];
+  policyPresets: Readonly<Record<string, Readonly<Record<string, string>>>> | null;
+  fusionMode: "synchronised-multilayer-review" | null;
+  validFovMaskSha256: string | null;
+}
+
+export interface VegetationMixedRouteCase {
+  caseId: string;
+  phase: "rural" | "transition" | "urban";
+  sourceSequence: number;
+  sessionSeconds: number;
+  assets: Readonly<Record<"source" | "city" | "vegetation" | "tgs", string>>;
+  tgs: {
+    groundCells: number;
+    occupiedCells: number;
+    rejectedCells: number;
+    unobservedCells: number;
+  };
+}
+
+export interface VegetationMixedRouteReview {
+  sourceId: "RAVNOVES004TREE";
+  sessionId: string;
+  packId: string;
+  frameCount: 10;
+  models: {
+    city: { name: string; inferenceFps: number; endToEndP95Ms: number };
+    vegetation: { name: string; latencyP95Ms: number };
+    tgs: { name: string; latencyP95Ms: number; cellSizeM: number; radiusM: number };
+  };
+  cases: readonly VegetationMixedRouteCase[];
+}
+
+export interface VegetationRouteTgsAnchor {
+  sourceSequence: number;
+  slot: number;
+  currentPointsXyzM: readonly (readonly [number, number, number])[];
+  costmap: {
+    cellSizeM: 0.45;
+    centersXyM: readonly (readonly [number, number])[];
+    stateCodes: readonly number[];
+    zBoundsM: readonly (readonly [number | null, number | null])[];
+  };
+}
+
+export interface VegetationFullRouteLayer {
+  name: string;
+  resultId: string;
+  frameCount: 6830;
+  taxonomy: readonly VegetationVideoSemanticClass[];
+  inferenceFps: number;
+  latencyP95Ms: number;
+  peakReservedVramBytes: number;
+}
+
+export interface VegetationFullRouteReview {
+  sourceId: "RAVNOVES004TREE";
+  sessionId: "20260828T130511Z_viewer_live";
+  linkedRouteReviewResultId: string;
+  sourceJobId: "recorded-camera-eb2783c5480d56bda07c8af0";
+  sourceJobInputSha256: string;
+  sourceStreamSha256: string;
+  recordedMediaSourceId: "recorded.camera.6a3945242828a038";
+  recordedMediaGenerationSha256: string;
+  frameCount: 6830;
+  width: 800;
+  height: 600;
+  timelineStartSeconds: number;
+  timelineEndSeconds: number;
+  timelineArtifact: {
+    sha256: string;
+    byteLength: number;
+  };
+  frameSourceTimesNs: readonly number[];
+  decodeRepair: {
+    repairedFrameCount: 1;
+    sequence: 6092;
+    method: "duplicate-previous-decoded-frame";
+  };
+  city: VegetationFullRouteLayer;
+  vegetation: VegetationFullRouteLayer;
 }
 
 export interface VegetationShadowResult {
@@ -80,6 +165,8 @@ export interface VegetationShadowResult {
   routeCases: readonly VegetationVisualCase[];
   validationCases: readonly VegetationVisualCase[];
   routeVideo: VegetationRouteVideo | null;
+  routeReview: VegetationMixedRouteReview | null;
+  routeFullReview: VegetationFullRouteReview | null;
   limitations: readonly string[];
   visualShadowReady: true;
   missionPolicyReadyForConfiguration: true;
@@ -186,6 +273,7 @@ function visualCaseValue(
   value: unknown,
   resultId: string,
   expectedKind: "goose" | "ravnoves",
+  endpointRoot: string,
 ): VegetationVisualCase {
   const row = objectValue(value, `vegetation.${expectedKind}.case`);
   exact(row.source_kind, expectedKind, "vegetation.case.source_kind");
@@ -204,7 +292,7 @@ function visualCaseValue(
     if (!SHA256.test(sha256) || !path.startsWith(`visual/${expectedKind}/${caseId}/`)) {
       throw new VegetationShadowContractError(`vegetation.case.assets.${key}: proof invalid.`);
     }
-    projected[key] = `/api/v1/laboratory/vegetation-shadow/${encodeURIComponent(resultId)}/assets/${path
+    projected[key] = `${endpointRoot}/${encodeURIComponent(resultId)}/assets/${path
       .split("/")
       .map(encodeURIComponent)
       .join("/")}`;
@@ -257,6 +345,9 @@ function routeVideoValue(value: unknown): VegetationRouteVideo | null {
     "vegetation.route_video.m47_reference_graph_result_id",
   );
   const baseM4ResultId = textValue(row.base_m4_result_id, "vegetation.route_video.base_m4_result_id");
+  const viewKind = row.view_kind === undefined
+    ? "fine-semantic-prediction"
+    : textValue(row.view_kind, "vegetation.route_video.view_kind");
   if (
     !/^lab-v1-ravnoves-video-ddrnet-[a-f0-9]{64}$/.test(workerResultId)
     || !/^m47-reference-graph-lab-[a-f0-9]{64}$/.test(m47ReferenceGraphResultId)
@@ -264,6 +355,15 @@ function routeVideoValue(value: unknown): VegetationRouteVideo | null {
   ) {
     throw new VegetationShadowContractError("vegetation.route_video: identity invalid.");
   }
+  if (viewKind !== "fine-semantic-prediction" && viewKind !== "coarse-material-policy-review") {
+    throw new VegetationShadowContractError("vegetation.route_video: view kind invalid.");
+  }
+  const linkedTgsResultId = viewKind === "coarse-material-policy-review"
+    ? textValue(row.linked_tgs_result_id, "vegetation.route_video.linked_tgs_result_id")
+    : null;
+  if (linkedTgsResultId && !/^m49-tgs-full-shadow-[a-f0-9]{64}$/.test(linkedTgsResultId)) {
+    throw new VegetationShadowContractError("vegetation.route_video: TGS identity invalid.");
+  }
   exact(row.frame_count, 4489, "vegetation.route_video.frame_count");
   exact(row.width, 800, "vegetation.route_video.width");
   exact(row.height, 600, "vegetation.route_video.height");
@@ -279,11 +379,9 @@ function routeVideoValue(value: unknown): VegetationRouteVideo | null {
     throw new VegetationShadowContractError("vegetation.route_video: crop contract changed.");
   }
   const taxonomy = objectValue(row.taxonomy, "vegetation.route_video.taxonomy");
-  exact(
-    taxonomy.schema_version,
-    "missioncore.lab-v1-vegetation-taxonomy/v1",
-    "vegetation.route_video.taxonomy.schema",
-  );
+  exact(taxonomy.schema_version, viewKind === "coarse-material-policy-review"
+    ? "missioncore.lab-v1-terrain-policy-taxonomy/v1"
+    : "missioncore.lab-v1-vegetation-taxonomy/v1", "vegetation.route_video.taxonomy.schema");
   const classes = arrayValue(taxonomy.classes, "vegetation.route_video.taxonomy.classes")
     .map((value, expectedId): VegetationVideoSemanticClass => {
       const item = objectValue(value, `vegetation.route_video.taxonomy[${expectedId}]`);
@@ -296,36 +394,95 @@ function routeVideoValue(value: unknown): VegetationRouteVideo | null {
       if (color.length !== 3 || color.some((channel) => channel > 255)) {
         throw new VegetationShadowContractError("vegetation.route_video: taxonomy color invalid.");
       }
-      const disposition: VegetationVideoSemanticClass["disposition"] = expectedId === 0
-        ? "undefined"
-        : "prediction";
-      if (item.disposition !== disposition) {
+      const disposition = item.disposition;
+      if (
+        disposition !== "labeled"
+        && disposition !== "ambiguous"
+        && disposition !== "prediction"
+        && disposition !== "undefined"
+      ) {
         throw new VegetationShadowContractError("vegetation.route_video: taxonomy disposition changed.");
       }
+      if (
+        viewKind === "fine-semantic-prediction"
+        && disposition !== (expectedId === 0 ? "undefined" : "prediction")
+      ) {
+        throw new VegetationShadowContractError("vegetation.route_video: fine taxonomy disposition changed.");
+      }
+      const materialClass = item.material_class === null || item.material_class === undefined
+        ? null
+        : textValue(item.material_class, `vegetation.route_video.material[${expectedId}]`);
+      const evidenceState = item.evidence_state === null || item.evidence_state === undefined
+        ? null
+        : textValue(item.evidence_state, `vegetation.route_video.evidence[${expectedId}]`);
       return {
         classId,
         label: textValue(item.label, `vegetation.route_video.label[${expectedId}]`),
         colorRgb: color as unknown as readonly [number, number, number],
         disposition,
+        materialClass,
+        evidenceState,
       };
     });
-  if (classes.length !== 64) {
-    throw new VegetationShadowContractError("vegetation.route_video: taxonomy must contain 64 classes.");
+  const expectedClassCount = viewKind === "coarse-material-policy-review" ? 10 : 64;
+  if (classes.length !== expectedClassCount) {
+    throw new VegetationShadowContractError("vegetation.route_video: taxonomy size changed.");
+  }
+  if (
+    viewKind === "coarse-material-policy-review"
+    && (classes[9]?.disposition !== "undefined" || classes[9]?.evidenceState !== "UNOBSERVED")
+  ) {
+    throw new VegetationShadowContractError("vegetation.route_video: valid-FOV class changed.");
   }
   const aggregatePredictionPixels = arrayValue(
     row.aggregate_prediction_pixels,
     "vegetation.route_video.aggregate_prediction_pixels",
   ).map((value, index) => integerValue(value, `vegetation.route_video.pixels[${index}]`));
-  if (aggregatePredictionPixels.length !== 64) {
+  if (aggregatePredictionPixels.length !== expectedClassCount) {
     throw new VegetationShadowContractError("vegetation.route_video: class accounting changed.");
   }
   const maskArchive = objectValue(row.mask_archive, "vegetation.route_video.mask_archive");
-  exact(maskArchive.path, "video/ddrnet-semantic-masks.zip", "vegetation.route_video.mask_archive.path");
+  exact(maskArchive.path, viewKind === "coarse-material-policy-review"
+    ? "video/coarse-material-policy-masks.zip"
+    : "video/ddrnet-semantic-masks.zip", "vegetation.route_video.mask_archive.path");
   const archiveSha256 = textValue(maskArchive.sha256, "vegetation.route_video.mask_archive.sha256");
   if (!SHA256.test(archiveSha256)) {
     throw new VegetationShadowContractError("vegetation.route_video: archive digest invalid.");
   }
   integerValue(maskArchive.byte_length, "vegetation.route_video.mask_archive.byte_length");
+  let policyPresets: VegetationRouteVideo["policyPresets"] = null;
+  let fusionMode: VegetationRouteVideo["fusionMode"] = null;
+  let validFovMaskSha256: string | null = null;
+  if (viewKind === "coarse-material-policy-review") {
+    const validFov = objectValue(row.valid_fov, "vegetation.route_video.valid_fov");
+    exact(validFov.mask_path, "video/valid-fov-mask.png", "vegetation.route_video.valid_fov.path");
+    validFovMaskSha256 = textValue(
+      validFov.mask_sha256,
+      "vegetation.route_video.valid_fov.sha256",
+    );
+    if (!SHA256.test(validFovMaskSha256)) {
+      throw new VegetationShadowContractError("vegetation.route_video: valid-FOV digest invalid.");
+    }
+    exact(validFov.outside_valid_fov_class_id, 9, "vegetation.route_video.valid_fov.class_id");
+    const policy = objectValue(row.policy, "vegetation.route_video.policy");
+    const presets = objectValue(policy.presets, "vegetation.route_video.policy.presets");
+    policyPresets = Object.fromEntries(Object.entries(presets).map(([presetId, rawRules]) => {
+      const rules = objectValue(rawRules, `vegetation.route_video.policy.${presetId}`);
+      return [presetId, Object.fromEntries(Object.entries(rules).map(([material, action]) => [
+        material,
+        textValue(action, `vegetation.route_video.policy.${presetId}.${material}`),
+      ]))];
+    }));
+    const fusion = objectValue(row.fusion, "vegetation.route_video.fusion");
+    exact(fusion.pixel_raster_fusion, false, "vegetation.route_video.fusion.pixel_raster_fusion");
+    exact(fusion.camera_semantic_temporal_filter, "none", "vegetation.route_video.fusion.camera_filter");
+    exact(
+      fusion.mode,
+      "synchronised-multilayer-review",
+      "vegetation.route_video.fusion.mode",
+    );
+    fusionMode = "synchronised-multilayer-review";
+  }
   return {
     workerResultId,
     m47ReferenceGraphResultId,
@@ -335,12 +492,374 @@ function routeVideoValue(value: unknown): VegetationRouteVideo | null {
     height: 600,
     centerCropXyxy: [100, 0, 700, 600],
     outsideCropState: "undefined",
+    viewKind,
+    linkedTgsResultId,
     taxonomy: classes,
     aggregatePredictionPixels,
+    policyPresets,
+    fusionMode,
+    validFovMaskSha256,
   };
 }
 
-function parseResult(value: unknown, resultId: string): VegetationShadowResult {
+function mixedRouteReviewValue(
+  value: unknown,
+  resultId: string,
+  endpointRoot: string,
+): VegetationMixedRouteReview | null {
+  if (value === null || value === undefined) return null;
+  const row = objectValue(value, "vegetation.route_review");
+  exact(row.source_id, "RAVNOVES004TREE", "vegetation.route_review.source_id");
+  exact(row.frame_count, 10, "vegetation.route_review.frame_count");
+  exact(row.ground_truth, false, "vegetation.route_review.ground_truth");
+  exact(
+    row.selection_policy,
+    "same-scene-camera-lidar-aligned-review-islands/v1",
+    "vegetation.route_review.selection_policy",
+  );
+  const packId = textValue(row.pack_id, "vegetation.route_review.pack_id");
+  if (!/^mixed-route-review-pack-[a-f0-9]{64}$/.test(packId)) {
+    throw new VegetationShadowContractError("vegetation.route_review.pack_id: identity invalid.");
+  }
+  const models = objectValue(row.models, "vegetation.route_review.models");
+  const city = objectValue(models.city, "vegetation.route_review.models.city");
+  const vegetation = objectValue(models.vegetation, "vegetation.route_review.models.vegetation");
+  const tgsModel = objectValue(models.tgs, "vegetation.route_review.models.tgs");
+  exact(city.frames, 10, "vegetation.route_review.models.city.frames");
+  exact(vegetation.frames, 10, "vegetation.route_review.models.vegetation.frames");
+  exact(tgsModel.frames, 10, "vegetation.route_review.models.tgs.frames");
+  const cases = arrayValue(row.cases, "vegetation.route_review.cases").map((raw, index) => {
+    const item = objectValue(raw, `vegetation.route_review.cases[${index}]`);
+    const caseId = textValue(item.case_id, `vegetation.route_review.cases[${index}].case_id`);
+    if (caseId !== `route-${String(index + 1).padStart(2, "0")}`) {
+      throw new VegetationShadowContractError("vegetation.route_review.case order changed.");
+    }
+    const phaseValue = item.phase;
+    if (phaseValue !== "rural" && phaseValue !== "transition" && phaseValue !== "urban") {
+      throw new VegetationShadowContractError("vegetation.route_review.phase changed.");
+    }
+    const phase: VegetationMixedRouteCase["phase"] = phaseValue;
+    const assets = objectValue(item.assets, `vegetation.route_review.cases[${index}].assets`);
+    const projected = Object.fromEntries(["source", "city", "vegetation", "tgs"].map((key) => {
+      const descriptor = objectValue(assets[key], `vegetation.route_review.assets.${key}`);
+      const path = textValue(descriptor.path, `vegetation.route_review.assets.${key}.path`);
+      const digest = textValue(descriptor.sha256, `vegetation.route_review.assets.${key}.sha256`);
+      if (!SHA256.test(digest) || !path.startsWith(`route-review/${caseId}/`)) {
+        throw new VegetationShadowContractError(`vegetation.route_review.assets.${key}: proof invalid.`);
+      }
+      return [key, `${endpointRoot}/${encodeURIComponent(resultId)}/assets/${path
+        .split("/").map(encodeURIComponent).join("/")}`];
+    })) as Record<"source" | "city" | "vegetation" | "tgs", string>;
+    const tgs = objectValue(item.tgs, `vegetation.route_review.cases[${index}].tgs`);
+    const groundCells = integerValue(tgs.ground_cells, "vegetation.route_review.tgs.ground");
+    const occupiedCells = integerValue(tgs.occupied_cells, "vegetation.route_review.tgs.occupied");
+    const rejectedCells = integerValue(tgs.rejected_cells, "vegetation.route_review.tgs.rejected");
+    const unobservedCells = integerValue(tgs.unobserved_cells, "vegetation.route_review.tgs.unobserved");
+    if (groundCells + occupiedCells + rejectedCells + unobservedCells !== 2244) {
+      throw new VegetationShadowContractError("vegetation.route_review.tgs cell accounting changed.");
+    }
+    return {
+      caseId,
+      phase,
+      sourceSequence: integerValue(item.source_sequence, "vegetation.route_review.source_sequence"),
+      sessionSeconds: numberValue(item.session_seconds, "vegetation.route_review.session_seconds"),
+      assets: projected,
+      tgs: { groundCells, occupiedCells, rejectedCells, unobservedCells },
+    };
+  });
+  if (cases.length !== 10) {
+    throw new VegetationShadowContractError("vegetation.route_review.cases: expected 10 aligned islands.");
+  }
+  return {
+    sourceId: "RAVNOVES004TREE",
+    sessionId: textValue(row.session_id, "vegetation.route_review.session_id"),
+    packId,
+    frameCount: 10,
+    models: {
+      city: {
+        name: textValue(city.name, "vegetation.route_review.models.city.name"),
+        inferenceFps: numberValue(city.inference_fps, "vegetation.route_review.models.city.fps"),
+        endToEndP95Ms: numberValue(city.end_to_end_p95_ms, "vegetation.route_review.models.city.p95"),
+      },
+      vegetation: {
+        name: textValue(vegetation.name, "vegetation.route_review.models.vegetation.name"),
+        latencyP95Ms: numberValue(vegetation.latency_p95_ms, "vegetation.route_review.models.vegetation.p95"),
+      },
+      tgs: {
+        name: textValue(tgsModel.name, "vegetation.route_review.models.tgs.name"),
+        latencyP95Ms: numberValue(tgsModel.latency_p95_ms, "vegetation.route_review.models.tgs.p95"),
+        cellSizeM: numberValue(tgsModel.cell_size_m, "vegetation.route_review.models.tgs.cell"),
+        radiusM: numberValue(tgsModel.radius_m, "vegetation.route_review.models.tgs.radius"),
+      },
+    },
+    cases,
+  };
+}
+
+function fullRouteTaxonomyValue(
+  value: unknown,
+  label: string,
+  schema: string,
+  classCount: number,
+): readonly VegetationVideoSemanticClass[] {
+  const taxonomy = objectValue(value, `${label}.taxonomy`);
+  exact(taxonomy.schema_version, schema, `${label}.taxonomy.schema`);
+  const classes = arrayValue(taxonomy.classes, `${label}.taxonomy.classes`).map(
+    (raw, expectedId): VegetationVideoSemanticClass => {
+      const item = objectValue(raw, `${label}.taxonomy[${expectedId}]`);
+      const classId = integerValue(item.class_id, `${label}.class_id[${expectedId}]`);
+      if (classId !== expectedId) {
+        throw new VegetationShadowContractError(`${label}: taxonomy order changed.`);
+      }
+      const color = arrayValue(item.color_rgb, `${label}.color[${expectedId}]`)
+        .map((channel, index) => integerValue(channel, `${label}.color[${expectedId}][${index}]`));
+      if (color.length !== 3 || color.some((channel) => channel > 255)) {
+        throw new VegetationShadowContractError(`${label}: taxonomy color invalid.`);
+      }
+      const disposition = item.disposition;
+      if (
+        disposition !== "labeled"
+        && disposition !== "ambiguous"
+        && disposition !== "prediction"
+        && disposition !== "undefined"
+      ) {
+        throw new VegetationShadowContractError(`${label}: taxonomy disposition changed.`);
+      }
+      return {
+        classId,
+        label: textValue(item.label, `${label}.label[${expectedId}]`),
+        colorRgb: color as unknown as readonly [number, number, number],
+        disposition,
+        materialClass: item.material_class === null || item.material_class === undefined
+          ? null
+          : textValue(item.material_class, `${label}.material[${expectedId}]`),
+        evidenceState: item.evidence_state === null || item.evidence_state === undefined
+          ? null
+          : textValue(item.evidence_state, `${label}.evidence[${expectedId}]`),
+      };
+    },
+  );
+  if (classes.length !== classCount) {
+    throw new VegetationShadowContractError(`${label}: taxonomy size changed.`);
+  }
+  return classes;
+}
+
+function fullRouteLayerValue(
+  value: unknown,
+  layer: "city" | "vegetation",
+): VegetationFullRouteLayer {
+  const label = `vegetation.route_full_review.layers.${layer}`;
+  const row = objectValue(value, label);
+  const resultId = textValue(row.result_id, `${label}.result_id`);
+  const identity = layer === "city"
+    ? /^result-[a-f0-9]{64}$/
+    : /^lab-v1-ravnoves-video-ddrnet-[a-f0-9]{64}$/;
+  if (!identity.test(resultId)) {
+    throw new VegetationShadowContractError(`${label}: identity invalid.`);
+  }
+  exact(row.frame_count, 6830, `${label}.frame_count`);
+  const archive = objectValue(row.mask_archive, `${label}.mask_archive`);
+  exact(
+    archive.path,
+    layer === "city" ? "video/eomt-semantic-masks.zip" : "video/ddrnet-semantic-masks.zip",
+    `${label}.mask_archive.path`,
+  );
+  const digest = textValue(archive.sha256, `${label}.mask_archive.sha256`);
+  if (!SHA256.test(digest)) {
+    throw new VegetationShadowContractError(`${label}: archive digest invalid.`);
+  }
+  integerValue(archive.byte_length, `${label}.mask_archive.byte_length`);
+  return {
+    name: textValue(row.name, `${label}.name`),
+    resultId,
+    frameCount: 6830,
+    taxonomy: fullRouteTaxonomyValue(
+      row.taxonomy,
+      label,
+      layer === "city"
+        ? "missioncore.recorded-eomt-taxonomy/v1"
+        : "missioncore.lab-v1-vegetation-taxonomy/v1",
+      layer === "city" ? 16 : 64,
+    ),
+    inferenceFps: numberValue(row.inference_fps, `${label}.inference_fps`),
+    latencyP95Ms: numberValue(row.latency_p95_ms, `${label}.latency_p95_ms`),
+    peakReservedVramBytes: integerValue(
+      row.peak_reserved_vram_bytes,
+      `${label}.peak_reserved_vram_bytes`,
+    ),
+  };
+}
+
+function fullRouteReviewValue(value: unknown): VegetationFullRouteReview | null {
+  if (value === null || value === undefined) return null;
+  const row = objectValue(value, "vegetation.route_full_review");
+  exact(row.source_id, "RAVNOVES004TREE", "vegetation.route_full_review.source_id");
+  exact(
+    row.session_id,
+    "20260828T130511Z_viewer_live",
+    "vegetation.route_full_review.session_id",
+  );
+  exact(
+    row.source_job_id,
+    "recorded-camera-eb2783c5480d56bda07c8af0",
+    "vegetation.route_full_review.source_job_id",
+  );
+  const linkedRouteReviewResultId = textValue(
+    row.linked_route_review_result_id,
+    "vegetation.route_full_review.linked_route_review_result_id",
+  );
+  if (!RESULT_ID.test(linkedRouteReviewResultId)) {
+    throw new VegetationShadowContractError(
+      "vegetation.route_full_review: linked route review identity invalid.",
+    );
+  }
+  exact(row.frame_count, 6830, "vegetation.route_full_review.frame_count");
+  exact(row.width, 800, "vegetation.route_full_review.width");
+  exact(row.height, 600, "vegetation.route_full_review.height");
+  exact(row.ground_truth, false, "vegetation.route_full_review.ground_truth");
+  const sourceJobInputSha256 = textValue(
+    row.source_job_input_sha256,
+    "vegetation.route_full_review.source_job_input_sha256",
+  );
+  const sourceStreamSha256 = textValue(
+    row.source_stream_sha256,
+    "vegetation.route_full_review.source_stream_sha256",
+  );
+  exact(
+    sourceJobInputSha256,
+    "eb2783c5480d56bda07c8af008dff5344d19dc550ef70fe2075d6f098f7cc715",
+    "vegetation.route_full_review.source_job_input_sha256",
+  );
+  exact(
+    sourceStreamSha256,
+    "e5eb017e2cc0f546736eda5235ca157b501913093cb64af5e548e335417e1bac",
+    "vegetation.route_full_review.source_stream_sha256",
+  );
+  exact(
+    row.recorded_media_source_id,
+    "recorded.camera.6a3945242828a038",
+    "vegetation.route_full_review.recorded_media_source_id",
+  );
+  const recordedMediaGenerationSha256 = textValue(
+    row.recorded_media_generation_sha256,
+    "vegetation.route_full_review.recorded_media_generation_sha256",
+  );
+  exact(
+    recordedMediaGenerationSha256,
+    "b073ea1e7babf1c77a664e1a5b95e3702d0e05b0e34c1e85a7c67a6f8b392ded",
+    "vegetation.route_full_review.recorded_media_generation_sha256",
+  );
+  if (
+    !SHA256.test(sourceJobInputSha256)
+    || !SHA256.test(sourceStreamSha256)
+    || !SHA256.test(recordedMediaGenerationSha256)
+  ) {
+    throw new VegetationShadowContractError("vegetation.route_full_review: source digest invalid.");
+  }
+  const timelineStartSeconds = numberValue(
+    row.timeline_start_seconds,
+    "vegetation.route_full_review.timeline_start_seconds",
+  );
+  const timelineEndSeconds = numberValue(
+    row.timeline_end_seconds,
+    "vegetation.route_full_review.timeline_end_seconds",
+  );
+  if (timelineEndSeconds <= timelineStartSeconds) {
+    throw new VegetationShadowContractError("vegetation.route_full_review: timeline invalid.");
+  }
+  const timeline = objectValue(row.timeline, "vegetation.route_full_review.timeline");
+  exact(
+    timeline.path,
+    "video/frame-source-times-ns.bin",
+    "vegetation.route_full_review.timeline.path",
+  );
+  exact(
+    timeline.encoding,
+    "uint64-le-nanoseconds",
+    "vegetation.route_full_review.timeline.encoding",
+  );
+  exact(timeline.frame_count, 6830, "vegetation.route_full_review.timeline.frame_count");
+  const timelineSha256 = textValue(
+    timeline.sha256,
+    "vegetation.route_full_review.timeline.sha256",
+  );
+  if (!SHA256.test(timelineSha256)) {
+    throw new VegetationShadowContractError("vegetation.route_full_review: timeline digest invalid.");
+  }
+  const timelineByteLength = integerValue(
+    timeline.byte_length,
+    "vegetation.route_full_review.timeline.byte_length",
+  );
+  exact(timelineByteLength, 6830 * 8, "vegetation.route_full_review.timeline.byte_length");
+  const decodeRepair = objectValue(
+    row.decode_repair,
+    "vegetation.route_full_review.decode_repair",
+  );
+  exact(decodeRepair.repaired_frame_count, 1, "vegetation.route_full_review.decode_repair.count");
+  exact(decodeRepair.sequence, 6092, "vegetation.route_full_review.decode_repair.sequence");
+  exact(
+    decodeRepair.method,
+    "duplicate-previous-decoded-frame",
+    "vegetation.route_full_review.decode_repair.method",
+  );
+  const repairProofs = objectValue(
+    decodeRepair.proofs,
+    "vegetation.route_full_review.decode_repair.proofs",
+  );
+  for (const [key, expectedPath] of Object.entries({
+    eomt: "proofs/decode_repair.json",
+    ddrnet: "proofs/ddrnet_decode_repair.json",
+  })) {
+    const proof = objectValue(
+      repairProofs[key],
+      `vegetation.route_full_review.decode_repair.proofs.${key}`,
+    );
+    exact(
+      proof.path,
+      expectedPath,
+      `vegetation.route_full_review.decode_repair.proofs.${key}.path`,
+    );
+    const digest = textValue(
+      proof.sha256,
+      `vegetation.route_full_review.decode_repair.proofs.${key}.sha256`,
+    );
+    if (!SHA256.test(digest)) {
+      throw new VegetationShadowContractError("vegetation.route_full_review: repair proof invalid.");
+    }
+  }
+  const layers = objectValue(row.layers, "vegetation.route_full_review.layers");
+  return {
+    sourceId: "RAVNOVES004TREE",
+    sessionId: "20260828T130511Z_viewer_live",
+    linkedRouteReviewResultId,
+    sourceJobId: "recorded-camera-eb2783c5480d56bda07c8af0",
+    sourceJobInputSha256,
+    sourceStreamSha256,
+    recordedMediaSourceId: "recorded.camera.6a3945242828a038",
+    recordedMediaGenerationSha256,
+    frameCount: 6830,
+    width: 800,
+    height: 600,
+    timelineStartSeconds,
+    timelineEndSeconds,
+    timelineArtifact: { sha256: timelineSha256, byteLength: timelineByteLength },
+    frameSourceTimesNs: [],
+    decodeRepair: {
+      repairedFrameCount: 1,
+      sequence: 6092,
+      method: "duplicate-previous-decoded-frame",
+    },
+    city: fullRouteLayerValue(layers.city, "city"),
+    vegetation: fullRouteLayerValue(layers.vegetation, "vegetation"),
+  };
+}
+
+function parseResult(
+  value: unknown,
+  resultId: string,
+  endpointRoot: string,
+): VegetationShadowResult {
   const payload = objectValue(value, "Vegetation LAB");
   exact(payload.schema_version, "missioncore.lab-v1-vegetation-shadow/v1", "vegetation.schema");
   exact(payload.result_id, resultId, "vegetation.result_id");
@@ -376,10 +895,15 @@ function parseResult(value: unknown, resultId: string): VegetationShadowResult {
     "vegetation.authority.camera_semantics_can_clear_rigid_geometry",
   );
   const routeCases = arrayValue(catalogs.ravnoves, "vegetation.catalogs.ravnoves")
-    .map((item) => visualCaseValue(item, resultId, "ravnoves"));
+    .map((item) => visualCaseValue(item, resultId, "ravnoves", endpointRoot));
   const validationCases = arrayValue(catalogs.goose, "vegetation.catalogs.goose")
-    .map((item) => visualCaseValue(item, resultId, "goose"));
-  if (routeCases.length !== 0 || validationCases.length !== 12) {
+    .map((item) => visualCaseValue(item, resultId, "goose", endpointRoot));
+  const routeReview = mixedRouteReviewValue(payload.route_review, resultId, endpointRoot);
+  const routeFullReview = fullRouteReviewValue(payload.route_full_review);
+  if (
+    routeCases.length !== 0
+    || (routeReview || routeFullReview ? validationCases.length !== 0 : validationCases.length !== 12)
+  ) {
     throw new VegetationShadowContractError("vegetation.catalogs: ожидалось 12 truth-backed GOOSE случаев без route viewer.");
   }
   return {
@@ -391,6 +915,8 @@ function parseResult(value: unknown, resultId: string): VegetationShadowResult {
     routeCases,
     validationCases,
     routeVideo: routeVideoValue(payload.route_video),
+    routeReview,
+    routeFullReview,
     limitations: arrayValue(payload.limitations, "vegetation.limitations")
       .map((item, index) => textValue(item, `vegetation.limitations[${index}]`)),
     visualShadowReady: true,
@@ -411,7 +937,96 @@ export function vegetationVideoMaskUrl(resultId: string, sequence: number): stri
   return `/api/v1/laboratory/vegetation-shadow/${encodeURIComponent(resultId)}/masks/${sequence}`;
 }
 
-export async function fetchVegetationShadowResult(
+export function vegetationFullRouteMaskUrl(
+  resultId: string,
+  layer: "city" | "vegetation",
+  sequence: number,
+): string {
+  if (
+    !RESULT_ID.test(resultId)
+    || (layer !== "city" && layer !== "vegetation")
+    || !Number.isInteger(sequence)
+    || sequence < 0
+    || sequence >= 6830
+  ) {
+    throw new VegetationShadowContractError("Vegetation full-route mask identity недопустима.");
+  }
+  return `/api/v1/laboratory/vegetation-shadow/${encodeURIComponent(resultId)}/route-masks/${layer}/${sequence}`;
+}
+
+export async function fetchVegetationRouteTgsAnchor(
+  resultId: string,
+  sourceSequence: number,
+  {
+    fetcher = fetch,
+    signal,
+  }: { fetcher?: LaboratoryFetch; signal?: AbortSignal } = {},
+): Promise<VegetationRouteTgsAnchor> {
+  if (!RESULT_ID.test(resultId) || !Number.isInteger(sourceSequence) || sourceSequence < 1) {
+    throw new VegetationShadowContractError("Vegetation TGS anchor identity недопустима.");
+  }
+  const response = await fetcher(
+    `/api/v1/laboratory/vegetation-shadow/${encodeURIComponent(resultId)}`
+      + `/route-tgs-anchor/${sourceSequence}`,
+    { method: "GET", headers: { Accept: "application/json" }, signal },
+  );
+  if (!response.ok) {
+    throw new VegetationShadowContractError(`Vegetation TGS anchor недоступен: HTTP ${response.status}.`);
+  }
+  const payload = objectValue(await response.json(), "vegetation.route_tgs_anchor");
+  exact(
+    payload.schema_version,
+    "missioncore.lab-v1-route-tgs-anchor/v1",
+    "vegetation.route_tgs_anchor.schema_version",
+  );
+  exact(payload.source_sequence, sourceSequence, "vegetation.route_tgs_anchor.source_sequence");
+  const pointValue = (value: unknown, label: string): readonly number[] => {
+    const point = arrayValue(value, label).map((item, index) => numberValue(item, `${label}[${index}]`));
+    if (point.length !== 2 && point.length !== 3) {
+      throw new VegetationShadowContractError(`${label}: размер изменён.`);
+    }
+    return point;
+  };
+  const points = arrayValue(payload.current_points_xyz_m, "vegetation.route_tgs_anchor.points")
+    .map((value, index) => pointValue(value, `vegetation.route_tgs_anchor.points[${index}]`));
+  const costmap = objectValue(payload.costmap, "vegetation.route_tgs_anchor.costmap");
+  exact(costmap.cell_size_m, 0.45, "vegetation.route_tgs_anchor.costmap.cell_size_m");
+  const centers = arrayValue(costmap.centers_xy_m, "vegetation.route_tgs_anchor.costmap.centers")
+    .map((value, index) => pointValue(value, `vegetation.route_tgs_anchor.costmap.centers[${index}]`));
+  const stateCodes = arrayValue(costmap.state_codes, "vegetation.route_tgs_anchor.costmap.states")
+    .map((value, index) => integerValue(value, `vegetation.route_tgs_anchor.costmap.states[${index}]`));
+  const zBounds = arrayValue(costmap.z_bounds_m, "vegetation.route_tgs_anchor.costmap.z_bounds")
+    .map((value, index) => {
+      const row = arrayValue(value, `vegetation.route_tgs_anchor.costmap.z_bounds[${index}]`);
+      if (row.length !== 2 || row.some((item) => item !== null && (typeof item !== "number" || !Number.isFinite(item)))) {
+        throw new VegetationShadowContractError("vegetation.route_tgs_anchor.costmap.z_bounds: контракт изменён.");
+      }
+      return row as readonly [number | null, number | null];
+    });
+  if (
+    centers.length !== 2244
+    || stateCodes.length !== 2244
+    || zBounds.length !== 2244
+    || stateCodes.some((value) => value > 3)
+    || points.some((point) => point.length !== 3)
+    || centers.some((point) => point.length !== 2)
+  ) {
+    throw new VegetationShadowContractError("Vegetation TGS anchor shape изменён.");
+  }
+  return {
+    sourceSequence,
+    slot: integerValue(payload.slot, "vegetation.route_tgs_anchor.slot"),
+    currentPointsXyzM: points.map((point) => [point[0]!, point[1]!, point[2]!] as const),
+    costmap: {
+      cellSizeM: 0.45,
+      centersXyM: centers.map((point) => [point[0]!, point[1]!] as const),
+      stateCodes,
+      zBoundsM: zBounds,
+    },
+  };
+}
+
+export async function fetchVegetationShadowResultMetadata(
   resultId: string,
   {
     fetcher = fetch,
@@ -428,5 +1043,85 @@ export async function fetchVegetationShadowResult(
   if (!response.ok) {
     throw new VegetationShadowContractError(`Vegetation LAB недоступна: HTTP ${response.status}.`);
   }
-  return parseResult(await response.json(), resultId);
+  const result = parseResult(
+    await response.json(),
+    resultId,
+    "/api/v1/laboratory/vegetation-shadow",
+  );
+  return result;
+}
+
+export async function fetchVegetationShadowResult(
+  resultId: string,
+  {
+    fetcher = fetch,
+    signal,
+  }: { fetcher?: LaboratoryFetch; signal?: AbortSignal } = {},
+): Promise<VegetationShadowResult> {
+  const result = await fetchVegetationShadowResultMetadata(resultId, { fetcher, signal });
+  if (!result.routeFullReview) return result;
+  const timelineResponse = await fetcher(
+    `/api/v1/laboratory/vegetation-shadow/${encodeURIComponent(resultId)}/route-timeline`,
+    { method: "GET", headers: { Accept: "application/octet-stream" }, signal },
+  );
+  if (!timelineResponse.ok) {
+    throw new VegetationShadowContractError(
+      `Vegetation LAB timeline недоступна: HTTP ${timelineResponse.status}.`,
+    );
+  }
+  if (
+    timelineResponse.headers.get("etag")
+    !== `"${result.routeFullReview.timelineArtifact.sha256}"`
+  ) {
+    throw new VegetationShadowContractError("Vegetation LAB timeline digest изменён.");
+  }
+  const timelinePayload = await timelineResponse.arrayBuffer();
+  if (timelinePayload.byteLength !== result.routeFullReview.timelineArtifact.byteLength) {
+    throw new VegetationShadowContractError("Vegetation LAB timeline size изменён.");
+  }
+  const timelineView = new DataView(timelinePayload);
+  const frameSourceTimesNs = Array.from({ length: result.routeFullReview.frameCount }, (_, index) => {
+    const value = Number(timelineView.getBigUint64(index * 8, true));
+    if (!Number.isSafeInteger(value)) {
+      throw new VegetationShadowContractError("Vegetation LAB timeline содержит unsafe time.");
+    }
+    return value;
+  });
+  if (
+    frameSourceTimesNs[0] !== Math.round(result.routeFullReview.timelineStartSeconds * 1_000_000_000)
+    || frameSourceTimesNs.some((time, index) => index > 0 && time <= frameSourceTimesNs[index - 1]!)
+  ) {
+    throw new VegetationShadowContractError("Vegetation LAB timeline нарушена.");
+  }
+  return {
+    ...result,
+    routeFullReview: { ...result.routeFullReview, frameSourceTimesNs },
+  };
+}
+
+export async function fetchVegetationBenchmarkResult(
+  resultId: string,
+  {
+    fetcher = fetch,
+    signal,
+  }: { fetcher?: LaboratoryFetch; signal?: AbortSignal } = {},
+): Promise<VegetationShadowResult> {
+  if (!BENCHMARK_RESULT_ID.test(resultId)) {
+    throw new VegetationShadowContractError("Vegetation benchmark identity недопустима.");
+  }
+  const endpointRoot = "/api/v1/laboratory/vegetation-benchmark";
+  const response = await fetcher(
+    `${endpointRoot}/${encodeURIComponent(resultId)}`,
+    { method: "GET", headers: { Accept: "application/json" }, signal },
+  );
+  if (!response.ok) {
+    throw new VegetationShadowContractError(
+      `Vegetation benchmark недоступен: HTTP ${response.status}.`,
+    );
+  }
+  const result = parseResult(await response.json(), resultId, endpointRoot);
+  if (result.routeVideo) {
+    throw new VegetationShadowContractError("Vegetation benchmark содержит route video.");
+  }
+  return result;
 }

apps/control-station/src/core/observation/labCalculationProfile.ts

@@ -0,0 +1,140 @@
+export const OBSERVATION_LAB_CALCULATION_PROFILE_SCHEMA =
+  "missioncore.observatory-calculation-profile/v1" as const;
+
+export type ObservationLabCalculationProfileOrigin =
+  | "archived-definition"
+  | "existing-result";
+
+export interface ObservationLabCalculationProfile {
+  readonly schemaVersion: typeof OBSERVATION_LAB_CALCULATION_PROFILE_SCHEMA;
+  readonly setupId: string;
+  readonly displayName: string;
+  readonly origin: ObservationLabCalculationProfileOrigin;
+  readonly definitionId: string | null;
+  readonly definitionVersion: number | null;
+  readonly definitionSha256: string | null;
+}
+
+export class ObservationLabCalculationProfileContractError extends Error {
+  constructor(message: string) {
+    super(message);
+    this.name = "ObservationLabCalculationProfileContractError";
+  }
+}
+
+const PROFILE_KEYS = new Set([
+  "schema_version",
+  "setup_id",
+  "display_name",
+  "origin",
+  "definition_id",
+  "definition_version",
+  "definition_sha256",
+]);
+const IDENTIFIER = /^[a-z][a-z0-9-]{2,95}$/;
+const SHA256 = /^[a-f0-9]{64}$/;
+
+function isRecord(value: unknown): value is Record<string, unknown> {
+  return typeof value === "object" && value !== null && !Array.isArray(value);
+}
+
+function requireText(value: unknown, field: string, maximum: number): string {
+  if (
+    typeof value !== "string"
+    || value.length === 0
+    || value.length > maximum
+    || value !== value.trim()
+  ) {
+    throw new ObservationLabCalculationProfileContractError(
+      `Поле calculation_profile.${field} должно быть непустой строкой.`,
+    );
+  }
+  return value;
+}
+
+function requireIdentifier(value: unknown, field: string): string {
+  const identifier = requireText(value, field, 96);
+  if (!IDENTIFIER.test(identifier)) {
+    throw new ObservationLabCalculationProfileContractError(
+      `Поле calculation_profile.${field} содержит некорректный идентификатор.`,
+    );
+  }
+  return identifier;
+}
+
+export function decodeObservationLabCalculationProfile(
+  value: unknown,
+  sessionId: string,
+): ObservationLabCalculationProfile | null {
+  if (value === null) return null;
+  if (!isRecord(value) || Object.keys(value).some((key) => !PROFILE_KEYS.has(key))) {
+    throw new ObservationLabCalculationProfileContractError(
+      `Профиль расчёта LAB-сессии ${sessionId} нарушил контракт полей.`,
+    );
+  }
+  if (
+    Object.keys(value).length !== PROFILE_KEYS.size
+    || value.schema_version !== OBSERVATION_LAB_CALCULATION_PROFILE_SCHEMA
+  ) {
+    throw new ObservationLabCalculationProfileContractError(
+      `Профиль расчёта LAB-сессии ${sessionId} имеет неизвестную версию.`,
+    );
+  }
+
+  const origin = value.origin;
+  if (origin !== "archived-definition" && origin !== "existing-result") {
+    throw new ObservationLabCalculationProfileContractError(
+      `Профиль расчёта LAB-сессии ${sessionId} имеет неизвестное происхождение.`,
+    );
+  }
+  const definitionId = value.definition_id === null
+    ? null
+    : requireIdentifier(value.definition_id, "definition_id");
+  const definitionVersion = value.definition_version === null
+    ? null
+    : value.definition_version;
+  if (
+    definitionVersion !== null
+    && (
+      typeof definitionVersion !== "number"
+      || !Number.isInteger(definitionVersion)
+      || definitionVersion < 1
+    )
+  ) {
+    throw new ObservationLabCalculationProfileContractError(
+      `Профиль расчёта LAB-сессии ${sessionId} содержит некорректную версию определения.`,
+    );
+  }
+  const definitionSha256 = value.definition_sha256 === null
+    ? null
+    : requireText(value.definition_sha256, "definition_sha256", 64);
+  if (definitionSha256 !== null && !SHA256.test(definitionSha256)) {
+    throw new ObservationLabCalculationProfileContractError(
+      `Профиль расчёта LAB-сессии ${sessionId} не содержит SHA-256 определения.`,
+    );
+  }
+
+  const definitionFieldCount = [
+    definitionId,
+    definitionVersion,
+    definitionSha256,
+  ].filter((entry) => entry !== null).length;
+  if (
+    (origin === "existing-result" && definitionFieldCount !== 0)
+    || (origin === "archived-definition" && definitionFieldCount !== 3)
+  ) {
+    throw new ObservationLabCalculationProfileContractError(
+      `Профиль расчёта LAB-сессии ${sessionId} содержит неполную идентичность определения.`,
+    );
+  }
+
+  return {
+    schemaVersion: OBSERVATION_LAB_CALCULATION_PROFILE_SCHEMA,
+    setupId: requireIdentifier(value.setup_id, "setup_id"),
+    displayName: requireText(value.display_name, "display_name", 256),
+    origin,
+    definitionId,
+    definitionVersion,
+    definitionSha256,
+  };
+}

apps/control-station/src/core/observation/labReplayCapability.ts

@@ -0,0 +1,280 @@
+export interface ObservationCanonicalLabReplayCapability {
+  schemaVersion: "missioncore.observation-lab-replay-capability/v1";
+  kind: "canonical-recorded-rerun";
+  viewerProfile: "recorded-session";
+  timeline: "session_time";
+  activation: "explicit";
+  commandsEnabled: false;
+}
+
+export interface ObservationPortableLabReplayCapability {
+  schemaVersion: "missioncore.observation-lab-replay-capability/v2";
+  kind: "portable-result-review";
+  viewerProfile: "portable-result";
+  timeline: "result-defined";
+  activation: "explicit";
+  commandsEnabled: false;
+}
+
+export type ObservationLabReplayCapability =
+  | ObservationCanonicalLabReplayCapability
+  | ObservationPortableLabReplayCapability;
+
+export class ObservationLabReplayCapabilityContractError extends Error {
+  constructor(message: string) {
+    super(message);
+    this.name = "ObservationLabReplayCapabilityContractError";
+  }
+}
+
+const SHA256 = /^[a-f0-9]{64}$/;
+const CAPABILITY_KEYS = new Set([
+  "schema_version",
+  "kind",
+  "viewer_profile",
+  "timeline",
+  "activation",
+  "commands_enabled",
+]);
+const CANONICAL_PROVENANCE_KEYS = new Set([
+  "schema_version",
+  "evidence_identity_sha256",
+  "result_document_sha256",
+  "replay_capability",
+  "authority",
+  "method",
+]);
+const PORTABLE_PROVENANCE_KEYS = new Set([
+  "schema_version",
+  "authority",
+  "calculation_profile",
+  "calculation_profile_sha256",
+  "job",
+  "source",
+  "run_definition",
+  "result_package",
+  "replay_capability",
+  "storage",
+  "method",
+]);
+const AUTHORITY_KEYS = new Set([
+  "commands_enabled",
+  "navigation_or_safety_accepted",
+  "actuation_accepted",
+]);
+const METHOD_KEYS = new Set([
+  "schema_version",
+  "completeness",
+  "execution_class",
+  "pipeline_id",
+  "components",
+]);
+const METHOD_COMPONENT_KEYS = new Set([
+  "kind",
+  "name",
+  "version",
+  "role",
+  "identity_sha256",
+]);
+
+function isRecord(value: unknown): value is Record<string, unknown> {
+  return value !== null && typeof value === "object" && !Array.isArray(value);
+}
+
+function assertExactKeys(
+  value: Record<string, unknown>,
+  expected: ReadonlySet<string>,
+  label: string,
+): void {
+  const keys = Object.keys(value);
+  if (keys.length !== expected.size || keys.some((key) => !expected.has(key))) {
+    throw new ObservationLabReplayCapabilityContractError(
+      `${label} содержит неизвестные или пропущенные поля.`,
+    );
+  }
+}
+
+export function decodeLabReplayCapability(
+  value: unknown,
+  sessionId: string,
+): ObservationLabReplayCapability | null {
+  if (value === null || value === undefined) return null;
+  if (!isRecord(value)) {
+    throw new ObservationLabReplayCapabilityContractError(
+      `Replay-возможность LAB-сессии ${sessionId} должна быть объектом или null.`,
+    );
+  }
+  assertExactKeys(value, CAPABILITY_KEYS, `Replay-возможность LAB-сессии ${sessionId}`);
+  if (
+    value.activation !== "explicit"
+    || value.commands_enabled !== false
+  ) {
+    throw new ObservationLabReplayCapabilityContractError(
+      `Replay-возможность LAB-сессии ${sessionId} нарушает observation-only контракт.`,
+    );
+  }
+  if (
+    value.schema_version === "missioncore.observation-lab-replay-capability/v1"
+    && value.kind === "canonical-recorded-rerun"
+    && value.viewer_profile === "recorded-session"
+    && value.timeline === "session_time"
+  ) {
+    return {
+      schemaVersion: "missioncore.observation-lab-replay-capability/v1",
+      kind: "canonical-recorded-rerun",
+      viewerProfile: "recorded-session",
+      timeline: "session_time",
+      activation: "explicit",
+      commandsEnabled: false,
+    };
+  }
+  if (
+    value.schema_version === "missioncore.observation-lab-replay-capability/v2"
+    && value.kind === "portable-result-review"
+    && value.viewer_profile === "portable-result"
+    && value.timeline === "result-defined"
+  ) {
+    return {
+      schemaVersion: "missioncore.observation-lab-replay-capability/v2",
+      kind: "portable-result-review",
+      viewerProfile: "portable-result",
+      timeline: "result-defined",
+      activation: "explicit",
+      commandsEnabled: false,
+    };
+  }
+  throw new ObservationLabReplayCapabilityContractError(
+    `Replay-возможность LAB-сессии ${sessionId} содержит неизвестный viewer capability.`,
+  );
+}
+
+export function decodeCanonicalLabReplayCapabilityProvenance(
+  provenance: Readonly<Record<string, unknown>>,
+  sessionId: string,
+  resultId: string,
+): ObservationCanonicalLabReplayCapability {
+  assertExactKeys(provenance, CANONICAL_PROVENANCE_KEYS, `Canonical provenance LAB-сессии ${sessionId}`);
+  if (
+    provenance.schema_version !== "missioncore.canonical-recorded-lab-projection/v1"
+    || typeof provenance.evidence_identity_sha256 !== "string"
+    || !SHA256.test(provenance.evidence_identity_sha256)
+    || resultId !== `lab-v1-vegetation-shadow-${provenance.evidence_identity_sha256}`
+    || typeof provenance.result_document_sha256 !== "string"
+    || !SHA256.test(provenance.result_document_sha256)
+  ) {
+    throw new ObservationLabReplayCapabilityContractError(
+      `Canonical provenance LAB-сессии ${sessionId} потеряла immutable identity.`,
+    );
+  }
+  if (!isRecord(provenance.authority)) {
+    throw new ObservationLabReplayCapabilityContractError(
+      `Canonical provenance LAB-сессии ${sessionId} не содержит authority.`,
+    );
+  }
+  assertExactKeys(provenance.authority, AUTHORITY_KEYS, `Canonical authority LAB-сессии ${sessionId}`);
+  if (
+    provenance.authority.commands_enabled !== false
+    || provenance.authority.navigation_or_safety_accepted !== false
+    || provenance.authority.actuation_accepted !== false
+  ) {
+    throw new ObservationLabReplayCapabilityContractError(
+      `Canonical provenance LAB-сессии ${sessionId} нарушает observation-only authority.`,
+    );
+  }
+  if (!isRecord(provenance.method)) {
+    throw new ObservationLabReplayCapabilityContractError(
+      `Canonical provenance LAB-сессии ${sessionId} не содержит method manifest.`,
+    );
+  }
+  assertExactKeys(provenance.method, METHOD_KEYS, `Canonical method LAB-сессии ${sessionId}`);
+  if (
+    provenance.method.schema_version !== "missioncore.laboratory-method/v1"
+    || provenance.method.completeness !== "legacy-partial"
+    || provenance.method.execution_class !== "ai-inference"
+    || provenance.method.pipeline_id
+      !== "ravnoves004tree-full-eomt-ddrnet-recorded-review/v1"
+    || !Array.isArray(provenance.method.components)
+    || provenance.method.components.length !== 1
+  ) {
+    throw new ObservationLabReplayCapabilityContractError(
+      `Canonical method LAB-сессии ${sessionId} не соответствует записанному прогону.`,
+    );
+  }
+  const component = provenance.method.components[0];
+  if (!isRecord(component)) {
+    throw new ObservationLabReplayCapabilityContractError(
+      `Canonical method LAB-сессии ${sessionId} не содержит source component.`,
+    );
+  }
+  assertExactKeys(
+    component,
+    METHOD_COMPONENT_KEYS,
+    `Canonical source component LAB-сессии ${sessionId}`,
+  );
+  if (
+    component.kind !== "source"
+    || component.name !== "sealed full-route LAB result"
+    || component.version !== "missioncore.lab-v1-vegetation-shadow/v1"
+    || component.role !== "immutable Session catalog projection"
+    || component.identity_sha256 !== provenance.evidence_identity_sha256
+  ) {
+    throw new ObservationLabReplayCapabilityContractError(
+      `Canonical source component LAB-сессии ${sessionId} потерял immutable identity.`,
+    );
+  }
+  const capability = decodeLabReplayCapability(provenance.replay_capability, sessionId);
+  if (capability === null || capability.kind !== "canonical-recorded-rerun") {
+    throw new ObservationLabReplayCapabilityContractError(
+      `Canonical provenance LAB-сессии ${sessionId} не содержит replay capability.`,
+    );
+  }
+  return capability;
+}
+
+export function decodePortableLabReplayCapabilityProvenance(
+  provenance: Readonly<Record<string, unknown>>,
+  sessionId: string,
+  resultId: string,
+  sourceSessionId: string,
+  definitionSha256: string,
+): ObservationPortableLabReplayCapability {
+  assertExactKeys(
+    provenance,
+    PORTABLE_PROVENANCE_KEYS,
+    `Portable provenance LAB-сессии ${sessionId}`,
+  );
+  if (
+    provenance.schema_version !== "missioncore.observatory-portable-result-publication/v1"
+    || !isRecord(provenance.source)
+    || provenance.source.session_id !== sourceSessionId
+    || !isRecord(provenance.run_definition)
+    || provenance.run_definition.definition_sha256 !== definitionSha256
+    || !isRecord(provenance.result_package)
+    || typeof provenance.result_package.manifest_sha256 !== "string"
+    || !SHA256.test(provenance.result_package.manifest_sha256)
+    || typeof provenance.result_package.artifact_manifest_id !== "string"
+    || !SHA256.test(provenance.result_package.artifact_manifest_id)
+    || sessionId !== resultId
+  ) {
+    throw new ObservationLabReplayCapabilityContractError(
+      `Portable provenance LAB-сессии ${sessionId} потеряла immutable identity.`,
+    );
+  }
+  const capability = decodeLabReplayCapability(provenance.replay_capability, sessionId);
+  if (capability === null || capability.kind !== "portable-result-review") {
+    throw new ObservationLabReplayCapabilityContractError(
+      `Portable provenance LAB-сессии ${sessionId} не содержит viewer capability.`,
+    );
+  }
+  return capability;
+}
+
+/** Rolling bridge for a new frontend against the pre-v2 catalog endpoint. */
+export function decodeRollingCanonicalLabReplayCapability(
+  provenance: Readonly<Record<string, unknown>>,
+  sessionId: string,
+  resultId: string,
+): ObservationLabReplayCapability | null {
+  if (!Object.prototype.hasOwnProperty.call(provenance, "replay_capability")) return null;
+  return decodeCanonicalLabReplayCapabilityProvenance(provenance, sessionId, resultId);
+}

apps/control-station/src/core/observation/liveRerunLifecycle.ts

@@ -0,0 +1,70 @@
+import { isUsableRecordedPlaybackRange } from "./recordedRerunLifecycle";
+
+export function createReentrantViewerDisposer(
+  cleanupOnce: () => void,
+  releaseNativeViewer: () => void,
+): () => void {
+  let cleanupComplete = false;
+  return () => {
+    try {
+      if (!cleanupComplete) {
+        cleanupComplete = true;
+        cleanupOnce();
+      }
+    } finally {
+      // A deferred native start can resolve after a pre-ready stop. Reapply
+      // release at every boundary so it cannot reopen after React unmount.
+      releaseNativeViewer();
+    }
+  };
+}
+
+interface ActiveLiveViewerOwner {
+  release: () => void;
+}
+
+let activeLiveViewerOwner: ActiveLiveViewerOwner | null = null;
+
+/** Own exactly one native live receiver per application document. */
+export function claimExclusiveLiveViewer(release: () => void): () => void {
+  const owner = { release };
+  const previous = activeLiveViewerOwner;
+  activeLiveViewerOwner = owner;
+  previous?.release();
+  return () => {
+    if (activeLiveViewerOwner === owner) activeLiveViewerOwner = null;
+  };
+}
+
+export function isLiveRerunPresentationReady(
+  viewerStarted: boolean,
+  rangeNs: { min: number; max: number } | null,
+  backendActivitySequence: number | null,
+): boolean {
+  return viewerStarted
+    && Number.isSafeInteger(backendActivitySequence)
+    && (backendActivitySequence ?? 0) > 0
+    && isUsableRecordedPlaybackRange(rangeNs);
+}
+
+export function liveTimelineNeedsSynchronization(
+  followLive: boolean,
+  activeTimeline: string | null | undefined,
+  rangeNs: { min: number; max: number } | null,
+): boolean {
+  return followLive
+    && isUsableRecordedPlaybackRange(rangeNs)
+    && activeTimeline !== "stream_time";
+}
+
+export function liveRerunReceiverBindingIdentity(
+  sourceUrl: string,
+  liveStreamId: string | null,
+  followLive: boolean,
+): string {
+  return JSON.stringify([
+    followLive ? "live" : "recorded",
+    sourceUrl.trim(),
+    followLive ? liveStreamId?.trim() ?? "" : "",
+  ]);
+}

apps/control-station/src/core/observation/liveViewerDiagnostics.ts

@@ -327,6 +327,53 @@ export function verifyLiveViewerClientBuild(
   });
 }
 
+/**
+ * Recover a recorded viewer whose lazy module disappeared during a frontend
+ * deployment. Live acquisition deliberately never reloads automatically, but
+ * a saved recording has no device-side authority to preserve and can safely
+ * move to the current immutable application build.
+ */
+export async function reloadRecordedViewerAfterStaleModuleFailure({
+  loadedUiBuildId,
+  signal,
+  fetcher = globalThis.fetch,
+  reload = () => window.location.reload(),
+}: {
+  loadedUiBuildId: string;
+  signal?: AbortSignal;
+  fetcher?: typeof globalThis.fetch;
+  reload?: () => void;
+}): Promise<boolean> {
+  if (
+    signal?.aborted ||
+    loadedUiBuildId === DEVELOPMENT_UI_BUILD_ID ||
+    !HASHED_UI_BUILD_ID.test(loadedUiBuildId)
+  ) return false;
+  try {
+    const response = await fetcher("/api/v1/viewer/client-contract", {
+      method: "GET",
+      headers: {
+        Accept: "application/json",
+        "X-MissionCore-UI-Build": loadedUiBuildId,
+      },
+      cache: "no-store",
+      signal,
+    });
+    if (signal?.aborted || !response.ok) return false;
+    const expectedUiBuildId = response.headers.get(UI_BUILD_HEADER);
+    if (
+      !expectedUiBuildId ||
+      expectedUiBuildId === loadedUiBuildId ||
+      !HASHED_UI_BUILD_ID.test(expectedUiBuildId)
+    ) return false;
+    browserUiBuildCoordinator().report({ loadedUiBuildId, expectedUiBuildId });
+    reload();
+    return true;
+  } catch {
+    return false;
+  }
+}
+
 function startBuildMonitor(): void {
   if (buildMonitorAbort || typeof window === "undefined") return;
   const lineage = createLiveViewerLineage(createLiveViewerInstanceId(), 1);

apps/control-station/src/core/observation/recordedBlueprintLifecycle.ts

@@ -0,0 +1,53 @@
+/** Small lease for the server's ephemeral blueprint, never for the recording. */
+export function keepRecordedBlueprintSession({
+  endpointUrl,
+  origin,
+  applicationId,
+  recordingId,
+  ownerId,
+  fetcher = fetch,
+  schedule = (callback: () => void) => window.setInterval(callback, 30_000),
+  cancel = (handle: number) => window.clearInterval(handle),
+}: {
+  endpointUrl: string;
+  origin: string;
+  applicationId: string;
+  recordingId: string;
+  ownerId: string;
+  fetcher?: typeof fetch;
+  schedule?: (callback: () => void) => number;
+  cancel?: (handle: number) => void;
+}): () => void {
+  const endpoint = new URL(endpointUrl, origin);
+  if (endpoint.origin !== origin || endpoint.search || endpoint.hash ||
+      !/^\/api\/v1\/observation-sessions\/[A-Za-z0-9._:-]+\/blueprint\.rrd$/.test(endpoint.pathname)) {
+    throw new Error("Unsafe recorded blueprint lifecycle endpoint");
+  }
+  endpoint.pathname = endpoint.pathname.replace(/blueprint\.rrd$/, "blueprint-lifecycle");
+  const identity = { application_id: applicationId, recording_id: recordingId,
+    blueprint_session_id: ownerId };
+  let closed = false;
+  let pending: AbortController | null = null;
+  const renew = () => {
+    if (closed) return;
+    pending?.abort();
+    pending = new AbortController();
+    void fetcher(endpoint.href, {
+      method: "POST", headers: { "Content-Type": "application/json" },
+      body: JSON.stringify({ ...identity, action: "renew" }), signal: pending.signal,
+    }).catch(() => { /* The TTL cleans up after a lost browser/network. */ });
+  };
+  const timer = schedule(renew);
+  return () => {
+    if (closed) return;
+    closed = true;
+    cancel(timer);
+    pending?.abort();
+    pending = null;
+    void fetcher(endpoint.href, {
+      method: "POST", headers: { "Content-Type": "application/json" },
+      body: JSON.stringify({ ...identity, action: "release" }),
+      keepalive: true, signal: AbortSignal.timeout(5_000),
+    }).catch(() => { /* Terminal release is best-effort; the server also has TTL. */ });
+  };
+}

apps/control-station/src/core/observation/recordedRerunLifecycle.ts

@@ -0,0 +1,303 @@
+import type { SceneSettings } from "../../sceneSettings";
+import type { RecordedAdmissionPhase } from "./recordedSessionAdmission";
+import type { RerunPlaybackState, RerunViewportStatus } from "./viewerProfile";
+
+const BUFFER_END_TOLERANCE_NS = 1_000_000;
+const RECORDED_OPEN_MIN_TIMEOUT_MS = 120_000;
+const RECORDED_OPEN_MAX_TIMEOUT_MS = 1_800_000;
+const RECORDED_OPEN_GRACE_MS = 30_000;
+const RECORDED_OPEN_MIN_BYTES_PER_SECOND = 2 * 1024 * 1024;
+
+export const RECORDED_BASE_POINT_COLOR_KEY = "intensity|turbo|-";
+
+export interface RecordedPlaybackBufferState {
+  bufferedEndNs: number | null;
+  expectedStartNs: number | null;
+  expectedEndNs: number | null;
+  bufferProgress: number | null;
+  fullyBuffered: boolean;
+}
+
+export function recordedPointColorKey(
+  settings: Pick<SceneSettings, "colorMode" | "palette" | "customColor">,
+): string {
+  const custom = settings.palette === "custom" || settings.colorMode === "class"
+    ? settings.customColor.toLowerCase()
+    : "-";
+  return `${settings.colorMode}|${settings.palette}|${custom}`;
+}
+
+export function recordedOpenWatchdogTimeoutMs(byteLength: number): number {
+  if (!Number.isSafeInteger(byteLength) || byteLength < 4) {
+    throw new Error("Unsafe recorded RRD byte length");
+  }
+  const transferBudgetMs = Math.ceil(
+    (byteLength / RECORDED_OPEN_MIN_BYTES_PER_SECOND) * 1_000,
+  );
+  return Math.min(
+    RECORDED_OPEN_MAX_TIMEOUT_MS,
+    Math.max(RECORDED_OPEN_MIN_TIMEOUT_MS, transferBudgetMs + RECORDED_OPEN_GRACE_MS),
+  );
+}
+
+export function createRecordedOpenWatchdog<T>({
+  byteLength,
+  schedule,
+  cancel,
+  onTimeout,
+}: {
+  byteLength: number;
+  schedule: (callback: () => void, timeoutMs: number) => T;
+  cancel: (handle: T) => void;
+  onTimeout: () => void;
+}): { arm: () => void; clear: () => void; pending: () => boolean } {
+  const timeoutMs = recordedOpenWatchdogTimeoutMs(byteLength);
+  let handle: T | null = null;
+  return {
+    arm() {
+      if (handle !== null) return;
+      handle = schedule(() => {
+        handle = null;
+        onTimeout();
+      }, timeoutMs);
+    },
+    clear() {
+      if (handle === null) return;
+      cancel(handle);
+      handle = null;
+    },
+    pending: () => handle !== null,
+  };
+}
+
+export function isUsableRecordedPlaybackRange(
+  rangeNs: { min: number; max: number } | null,
+): rangeNs is { min: number; max: number } {
+  return Boolean(
+    rangeNs
+    && Number.isFinite(rangeNs.min)
+    && Number.isFinite(rangeNs.max)
+    && rangeNs.max >= rangeNs.min,
+  );
+}
+
+export function recordedPlaybackBufferState(
+  rangeNs: { min: number; max: number } | null,
+  expectedTimelineEndSeconds?: number,
+  expectedTimelineStartSeconds?: number,
+): RecordedPlaybackBufferState {
+  const usableRange = isUsableRecordedPlaybackRange(rangeNs) ? rangeNs : null;
+  const bufferedEndNs = usableRange?.max ?? null;
+  if (expectedTimelineEndSeconds === undefined) {
+    return {
+      bufferedEndNs,
+      expectedStartNs: null,
+      expectedEndNs: null,
+      bufferProgress: null,
+      fullyBuffered: usableRange !== null,
+    };
+  }
+  if (!Number.isFinite(expectedTimelineEndSeconds) || expectedTimelineEndSeconds < 0) {
+    return {
+      bufferedEndNs,
+      expectedStartNs: null,
+      expectedEndNs: null,
+      bufferProgress: null,
+      fullyBuffered: false,
+    };
+  }
+
+  const expectedEndNs = expectedTimelineEndSeconds * 1_000_000_000;
+  const expectedStartNs = expectedTimelineStartSeconds === undefined
+    ? 0
+    : expectedTimelineStartSeconds * 1_000_000_000;
+  if (
+    !Number.isFinite(expectedEndNs)
+    || !Number.isFinite(expectedStartNs)
+    || expectedStartNs < 0
+    || expectedEndNs < expectedStartNs
+  ) {
+    return {
+      bufferedEndNs,
+      expectedStartNs: null,
+      expectedEndNs: null,
+      bufferProgress: null,
+      fullyBuffered: false,
+    };
+  }
+  const fullyBuffered = usableRange !== null
+    && usableRange.min <= expectedStartNs + BUFFER_END_TOLERANCE_NS
+    && usableRange.max >= expectedEndNs - BUFFER_END_TOLERANCE_NS;
+  const expectedDurationNs = expectedEndNs - expectedStartNs;
+  const bufferProgress = bufferedEndNs === null
+    ? 0
+    : expectedDurationNs <= 0
+      ? (fullyBuffered ? 1 : 0)
+      : Math.min(1, Math.max(0, (bufferedEndNs - expectedStartNs) / expectedDurationNs));
+  return {
+    bufferedEndNs,
+    expectedStartNs,
+    expectedEndNs,
+    bufferProgress,
+    fullyBuffered,
+  };
+}
+
+export function isRecordedPlaybackReady(
+  viewerStarted: boolean,
+  artifactVerified: boolean,
+  buffer: RecordedPlaybackBufferState,
+): boolean {
+  return viewerStarted && artifactVerified && buffer.bufferedEndNs !== null;
+}
+
+export function recordedPlaybackRangeWhenReady(
+  rangeNs: { min: number; max: number } | null,
+  buffer: RecordedPlaybackBufferState,
+  artifactVerified: boolean,
+): { min: number; max: number } | null {
+  if (
+    !artifactVerified
+    || !buffer.fullyBuffered
+    || !isUsableRecordedPlaybackRange(rangeNs)
+  ) return null;
+  return {
+    min: buffer.expectedStartNs === null
+      ? rangeNs.min
+      : Math.max(rangeNs.min, buffer.expectedStartNs),
+    max: buffer.expectedEndNs === null
+      ? rangeNs.max
+      : Math.min(rangeNs.max, buffer.expectedEndNs),
+  };
+}
+
+export function isRecordedPlaybackPresentationReady(
+  status: RerunViewportStatus,
+  playback: RerunPlaybackState | null,
+): boolean {
+  return status === "ready"
+    && playback?.fullyBuffered === true
+    && isUsableRecordedPlaybackRange(playback.rangeNs);
+}
+
+export function rerunPresentationStatus(
+  status: RerunViewportStatus,
+  _gate: RecordedAdmissionPhase,
+  recorded: boolean,
+): RerunViewportStatus {
+  if (!recorded) return status;
+  return status === "error" ? "error" : status;
+}
+
+export function isRecordedPlaybackFullyBuffered(
+  rangeNs: { min: number; max: number } | null,
+  expectedTimelineEndSeconds?: number,
+): boolean {
+  return recordedPlaybackBufferState(rangeNs, expectedTimelineEndSeconds).fullyBuffered;
+}
+
+export function attemptRecordedAutoplay(
+  seekToStart: () => void,
+  startPlaying: () => void,
+): boolean {
+  try {
+    seekToStart();
+    startPlaying();
+    return true;
+  } catch {
+    return false;
+  }
+}
+
+export function createRecordedInitialSeekGate(): {
+  attempt: (
+    viewerStarted: boolean,
+    fullyBuffered: boolean,
+    presentationReady: boolean,
+    rangeNs: { min: number; max: number } | null,
+    seekToStart: (startNs: number) => void,
+    preferredStartNs?: number,
+  ) => boolean;
+  attempted: () => boolean;
+} {
+  let consumed = false;
+  return {
+    attempt(
+      viewerStarted,
+      fullyBuffered,
+      presentationReady,
+      rangeNs,
+      seekToStart,
+      preferredStartNs,
+    ) {
+      if (
+        consumed
+        || !viewerStarted
+        || !fullyBuffered
+        || !presentationReady
+        || !isUsableRecordedPlaybackRange(rangeNs)
+      ) return false;
+      consumed = true;
+      const startNs = Number.isFinite(preferredStartNs)
+        ? Math.min(Math.max(preferredStartNs as number, rangeNs.min), rangeNs.max)
+        : rangeNs.min;
+      try {
+        seekToStart(startNs);
+        return true;
+      } catch {
+        return false;
+      }
+    },
+    attempted: () => consumed,
+  };
+}
+
+export function createRecordedAutoplayGate(): {
+  attempt: (
+    viewerStarted: boolean,
+    fullyBuffered: boolean,
+    presentationReady: boolean,
+    rangeNs: { min: number; max: number } | null,
+    seekToStart: (startNs: number) => void,
+    startPlaying: () => void,
+    preferredStartNs?: number,
+  ) => boolean;
+  attempted: () => boolean;
+} {
+  let consumed = false;
+  return {
+    attempt(
+      viewerStarted,
+      fullyBuffered,
+      presentationReady,
+      rangeNs,
+      seekToStart,
+      startPlaying,
+      preferredStartNs,
+    ) {
+      if (
+        consumed
+        || !viewerStarted
+        || !fullyBuffered
+        || !presentationReady
+        || !isUsableRecordedPlaybackRange(rangeNs)
+      ) return false;
+      consumed = true;
+      const startNs = Number.isFinite(preferredStartNs)
+        ? Math.min(Math.max(preferredStartNs as number, rangeNs.min), rangeNs.max)
+        : rangeNs.min;
+      return attemptRecordedAutoplay(
+        () => seekToStart(startNs),
+        startPlaying,
+      );
+    },
+    attempted: () => consumed,
+  };
+}
+
+export function canPublishRecordedPlaybackController(
+  readyToRender: boolean,
+  presentationGate: RecordedAdmissionPhase,
+): boolean {
+  return readyToRender && presentationGate === "ready";
+}

apps/control-station/src/core/observation/replayCoordinator.ts

@@ -0,0 +1,43 @@
+export interface ObservationReplayAttempt {
+  readonly signal: AbortSignal;
+  isCurrent: () => boolean;
+  finish: () => boolean;
+}
+
+export interface ObservationReplayCoordinator {
+  begin: () => ObservationReplayAttempt;
+  cancel: () => void;
+}
+
+/** Latest explicit admission owns the viewer, even if an older promise settles later. */
+export function createObservationReplayCoordinator(): ObservationReplayCoordinator {
+  let sequence = 0;
+  let active: AbortController | null = null;
+
+  return {
+    begin() {
+      active?.abort();
+      const controller = new AbortController();
+      const attemptSequence = ++sequence;
+      active = controller;
+      return {
+        signal: controller.signal,
+        isCurrent: () => (
+          !controller.signal.aborted
+          && active === controller
+          && sequence === attemptSequence
+        ),
+        finish: () => {
+          if (active !== controller || sequence !== attemptSequence) return false;
+          active = null;
+          return true;
+        },
+      };
+    },
+    cancel() {
+      active?.abort();
+      // Keep settlement ownership until finish(). isCurrent() already fails,
+      // while begin() can replace this attempt immediately.
+    },
+  };
+}

apps/control-station/src/core/observation/sessionArchive.ts

@@ -1,6 +1,20 @@
 import {
   MAX_RECORDED_CAMERA_SOURCES,
 } from "./recordedSessionAdmission";
+import {
+  decodeLabReplayCapability,
+  decodeRollingCanonicalLabReplayCapability,
+  ObservationLabReplayCapabilityContractError,
+  type ObservationLabReplayCapability,
+} from "./labReplayCapability";
+import {
+  decodeObservationLabCalculationProfile,
+  ObservationLabCalculationProfileContractError,
+  type ObservationLabCalculationProfile,
+} from "./labCalculationProfile";
+
+export type { ObservationLabReplayCapability } from "./labReplayCapability";
+export type { ObservationLabCalculationProfile } from "./labCalculationProfile";
 
 export type ObservationSessionStatus =
   | "recording"
@@ -20,6 +34,8 @@ export interface ObservationLabInstance {
   configSha256: string | null;
   runCreatedAtUtc: string;
   publishedAtUtc: string;
+  replayCapability: ObservationLabReplayCapability | null;
+  calculationProfile: ObservationLabCalculationProfile | null;
   provenance: Readonly<Record<string, unknown>>;
 }
 
@@ -32,10 +48,21 @@ export interface ObservationSessionSummary {
   modalities: readonly string[];
   durationSeconds: number;
   replayable: boolean;
+  captureAttestation: ObservationCaptureAttestation | null;
   preparation: ObservationSessionCatalogPreparation | null;
   lab: ObservationLabInstance | null;
 }
 
+export interface ObservationCaptureAttestation {
+  readonly equipmentModelId: string;
+  readonly equipmentModelSha256: string;
+  readonly equipmentDisplayName: string;
+  readonly captureProfileId: string;
+  readonly captureProfileSha256: string;
+  readonly captureAttestationSha256: string;
+  readonly state: "attested" | "attested-with-legacy-evidence" | "unknown";
+}
+
 export interface ObservationSessionCatalog {
   items: readonly ObservationSessionSummary[];
 }
@@ -152,10 +179,11 @@ const ITEM_KEYS = new Set([
   "modalities",
   "duration_seconds",
   "replayable",
+  "capture_attestation",
   "preparation",
   "lab",
 ]);
-const LAB_KEYS = new Set([
+const LEGACY_LAB_KEYS = new Set([
   "lab_id",
   "source_session_id",
   "result_kind",
@@ -166,6 +194,27 @@ const LAB_KEYS = new Set([
   "published_at_utc",
   "provenance",
 ]);
+const LAB_V2_KEYS = new Set([...LEGACY_LAB_KEYS, "replay_capability"]);
+const LAB_V3_KEYS = new Set([
+  ...LAB_V2_KEYS,
+  "calculation_profile",
+]);
+const CAPTURE_ATTESTATION_KEYS = new Set([
+  "schema_version",
+  "equipment_model",
+  "capture_profile",
+  "capture_attestation_sha256",
+  "state",
+]);
+const EQUIPMENT_MODEL_KEYS = new Set([
+  "equipment_model_id",
+  "equipment_model_sha256",
+  "display_name",
+]);
+const CAPTURE_PROFILE_KEYS = new Set([
+  "capture_profile_id",
+  "capture_profile_sha256",
+]);
 const CATALOG_PREPARATION_KEYS = new Set([
   "preparation_id",
   "state",
@@ -379,11 +428,103 @@ function decodeItem(value: unknown, index: number): ObservationSessionSummary {
     modalities: requireModalities(value.modalities),
     durationSeconds: value.duration_seconds,
     replayable: value.replayable,
+    captureAttestation: decodeCaptureAttestation(value.capture_attestation, id),
     preparation: decodeCatalogPreparation(value.preparation, id),
     lab: decodeLabInstance(value.lab, id),
   };
 }
 
+function decodeCaptureAttestation(
+  value: unknown,
+  sessionId: string,
+): ObservationCaptureAttestation | null {
+  if (value === null || value === undefined) return null;
+  if (!isRecord(value)) {
+    throw new ObservationSessionContractError(
+      `Аттестация записи ${sessionId} должна быть объектом или null.`,
+    );
+  }
+  assertExactKeys(value, CAPTURE_ATTESTATION_KEYS, `Аттестация записи ${sessionId}`);
+  if (value.schema_version !== "missioncore.recorded-capture-attestation/v1") {
+    throw new ObservationSessionContractError(
+      `Аттестация записи ${sessionId} имеет неизвестную схему.`,
+    );
+  }
+  if (!isRecord(value.equipment_model) || !isRecord(value.capture_profile)) {
+    throw new ObservationSessionContractError(
+      `Аттестация записи ${sessionId} не содержит оборудование или профиль записи.`,
+    );
+  }
+  assertExactKeys(
+    value.equipment_model,
+    EQUIPMENT_MODEL_KEYS,
+    `Оборудование записи ${sessionId}`,
+  );
+  assertExactKeys(
+    value.capture_profile,
+    CAPTURE_PROFILE_KEYS,
+    `Профиль записи ${sessionId}`,
+  );
+  const equipmentModelId = requireString(
+    value.equipment_model.equipment_model_id,
+    "equipment_model_id",
+    128,
+  );
+  const equipmentModelSha256 = requireString(
+    value.equipment_model.equipment_model_sha256,
+    "equipment_model_sha256",
+    64,
+  );
+  const captureProfileId = requireString(
+    value.capture_profile.capture_profile_id,
+    "capture_profile_id",
+    128,
+  );
+  const captureProfileSha256 = requireString(
+    value.capture_profile.capture_profile_sha256,
+    "capture_profile_sha256",
+    64,
+  );
+  const captureAttestationSha256 = requireString(
+    value.capture_attestation_sha256,
+    "capture_attestation_sha256",
+    64,
+  );
+  if (
+    !SAFE_ID.test(equipmentModelId)
+    || !SAFE_ID.test(captureProfileId)
+    || !SHA256.test(equipmentModelSha256)
+    || !SHA256.test(captureProfileSha256)
+    || !SHA256.test(captureAttestationSha256)
+  ) {
+    throw new ObservationSessionContractError(
+      `Аттестация записи ${sessionId} содержит некорректную immutable identity.`,
+    );
+  }
+  if (
+    value.state !== "attested"
+    && value.state !== "attested-with-legacy-evidence"
+    && value.state !== "unknown"
+  ) {
+    throw new ObservationSessionContractError(
+      `Аттестация записи ${sessionId} содержит неизвестное состояние.`,
+    );
+  }
+  return {
+    equipmentModelId,
+    equipmentModelSha256,
+    equipmentDisplayName: requireString(
+      value.equipment_model.display_name,
+      "equipment display_name",
+      128,
+    ),
+    captureProfileId,
+    captureProfileSha256,
+    captureAttestationSha256,
+    state: value.state,
+  };
+}
+
 function decodeLabInstance(
   value: unknown,
   sessionId: string,
@@ -394,7 +535,23 @@ function decodeLabInstance(
       `LAB-привязка сессии ${sessionId} должна быть объектом или null.`,
     );
   }
-  assertExactKeys(value, LAB_KEYS, `LAB-привязка сессии ${sessionId}`);
+  const hasTypedCapability = Object.prototype.hasOwnProperty.call(
+    value,
+    "replay_capability",
+  );
+  const hasCalculationProfile = Object.prototype.hasOwnProperty.call(
+    value,
+    "calculation_profile",
+  );
+  assertExactKeys(
+    value,
+    hasCalculationProfile
+      ? LAB_V3_KEYS
+      : hasTypedCapability
+        ? LAB_V2_KEYS
+        : LEGACY_LAB_KEYS,
+    `LAB-привязка сессии ${sessionId}`,
+  );
   const labId = requireString(value.lab_id, `lab(${sessionId}).lab_id`, 36);
   if (!/^LAB [A-Z][A-Z0-9._-]{0,31}$/.test(labId)) {
     throw new ObservationSessionContractError("Каталог содержит некорректный LAB-маркер.");
@@ -430,6 +587,28 @@ function decodeLabInstance(
   if (!isRecord(value.provenance)) {
     throw new ObservationSessionContractError("LAB provenance должен быть JSON-объектом.");
   }
+  let replayCapability: ObservationLabReplayCapability | null;
+  try {
+    replayCapability = hasTypedCapability
+      ? decodeLabReplayCapability(value.replay_capability, sessionId)
+      : decodeRollingCanonicalLabReplayCapability(value.provenance, sessionId, resultId);
+  } catch (error) {
+    if (error instanceof ObservationLabReplayCapabilityContractError) {
+      throw new ObservationSessionContractError(error.message);
+    }
+    throw error;
+  }
+  let calculationProfile: ObservationLabCalculationProfile | null;
+  try {
+    calculationProfile = hasCalculationProfile
+      ? decodeObservationLabCalculationProfile(value.calculation_profile, sessionId)
+      : null;
+  } catch (error) {
+    if (error instanceof ObservationLabCalculationProfileContractError) {
+      throw new ObservationSessionContractError(error.message);
+    }
+    throw error;
+  }
   return {
     labId,
     sourceSessionId,
@@ -445,6 +624,8 @@ function decodeLabInstance(
       value.published_at_utc,
       `lab(${sessionId}).published_at_utc`,
     ),
+    replayCapability,
+    calculationProfile,
     provenance: value.provenance,
   };
 }
@@ -1181,6 +1362,7 @@ export async function fetchObservationSessionCatalog({
     queryParameters.set("limit", String(Number(limit)));
   }
   if (scope !== "all") queryParameters.set("scope", scope);
+  if (scope === "laboratory") queryParameters.set("lab_contract", "v3");
   const serializedQuery = queryParameters.toString();
   const query = serializedQuery ? `?${serializedQuery}` : "";
   let response: Response;

apps/control-station/src/core/observation/sessionCatalogPage.ts

@@ -0,0 +1,72 @@
+import {
+  decodeObservationSessionCatalog,
+  ObservationSessionApiError,
+  ObservationSessionContractError,
+  type ObservationSessionCatalog,
+  type ObservationSessionFetch,
+  type ObservationSessionScope,
+} from "./sessionArchive";
+
+const PAGE_SCHEMA = "missioncore.observation-session-page/v1";
+const CURSOR = /^[A-Za-z0-9][A-Za-z0-9_.-]{0,127}$/;
+
+export interface ObservationSessionCatalogPage extends ObservationSessionCatalog {
+  readonly nextCursor: string | null;
+}
+
+/** Opt-in paging leaves the legacy catalog response and consumers unchanged. */
+export async function fetchObservationSessionCatalogPage({
+  scope,
+  limit = 100,
+  cursor = null,
+  signal,
+  fetcher = globalThis.fetch,
+}: {
+  scope: ObservationSessionScope;
+  limit?: number;
+  cursor?: string | null;
+  signal?: AbortSignal;
+  fetcher?: ObservationSessionFetch;
+}): Promise<ObservationSessionCatalogPage> {
+  if (!Number.isInteger(limit) || limit < 1 || limit > 100
+    || (cursor !== null && !CURSOR.test(cursor))) {
+    throw new ObservationSessionContractError("Некорректная страница каталога сессий.");
+  }
+  signal?.throwIfAborted();
+  const query = new URLSearchParams({ limit: String(limit), scope });
+  if (scope === "laboratory") query.set("lab_contract", "v3");
+  query.set("pagination", "cursor-v1");
+  if (cursor !== null) query.set("cursor", cursor);
+  const response = await fetcher(`/api/v1/observation-sessions?${query}`, {
+    method: "GET", headers: { Accept: "application/json" }, signal,
+  });
+  if (!response.ok) {
+    throw new ObservationSessionApiError(
+      `Не удалось загрузить страницу каталога сессий (HTTP ${response.status}).`,
+      response.status,
+    );
+  }
+  let body: unknown;
+  try {
+    body = await response.json();
+  } catch {
+    throw new ObservationSessionContractError("Некорректный ответ каталога сессий.");
+  }
+  if (typeof body !== "object" || body === null || Array.isArray(body)) {
+    throw new ObservationSessionContractError("Страница каталога должна быть объектом.");
+  }
+  const page = body as Record<string, unknown>;
+  if (Object.keys(page).length !== 3
+    || page.schema_version !== PAGE_SCHEMA
+    || !Object.hasOwn(page, "items")
+    || !(page.next_cursor === null
+      || (typeof page.next_cursor === "string" && CURSOR.test(page.next_cursor)))) {
+    throw new ObservationSessionContractError("Нарушен контракт страницы каталога сессий.");
+  }
+  const catalog = decodeObservationSessionCatalog({ items: page.items });
+  if (catalog.items.length > limit) {
+    throw new ObservationSessionContractError("Страница каталога превысила запрошенный размер.");
+  }
+  signal?.throwIfAborted();
+  return { ...catalog, nextCursor: page.next_cursor };
+}

apps/control-station/src/core/observation/useObservationSessions.ts

@@ -12,6 +12,16 @@ import {
   type ObservationSessionScope,
   type ObservationSessionSummary,
 } from "./sessionArchive";
+import {
+  createObservationReplayCoordinator,
+  type ObservationReplayCoordinator,
+} from "./replayCoordinator";
+
+export {
+  createObservationReplayCoordinator,
+  type ObservationReplayAttempt,
+  type ObservationReplayCoordinator,
+} from "./replayCoordinator";
 
 export type ObservationSessionsLoadState = "idle" | "loading" | "ready" | "error";
 export type ObservationReplayOutcome = "accepted" | "error" | "cancelled";
@@ -41,17 +51,6 @@ export interface ObservationSessionsController {
   remove: (sessionId: string) => Promise<boolean>;
 }
 
-export interface ObservationReplayAttempt {
-  readonly signal: AbortSignal;
-  isCurrent: () => boolean;
-  finish: () => boolean;
-}
-
-export interface ObservationReplayCoordinator {
-  begin: () => ObservationReplayAttempt;
-  cancel: () => void;
-}
-
 export async function deleteObservationSessionAfterTeardown(
   sessionId: string,
   {
@@ -93,41 +92,6 @@ export class ObservationPreparationStalledError extends Error {
   }
 }
 
-/** Latest selection wins, even if an obsolete server job finishes later. */
-export function createObservationReplayCoordinator(): ObservationReplayCoordinator {
-  let sequence = 0;
-  let active: AbortController | null = null;
-
-  return {
-    begin() {
-      active?.abort();
-      const controller = new AbortController();
-      const attemptSequence = ++sequence;
-      active = controller;
-      return {
-        signal: controller.signal,
-        isCurrent: () => (
-          !controller.signal.aborted &&
-          active === controller &&
-          sequence === attemptSequence
-        ),
-        finish: () => {
-          if (active !== controller || sequence !== attemptSequence) return false;
-          active = null;
-          return true;
-        },
-      };
-    },
-    cancel() {
-      active?.abort();
-      // Keep ownership until the cancelled attempt reaches `finish()`. This
-      // lets its finally block settle a replacement that already passed
-      // onReplayBegin, while `isCurrent()` still fails immediately because the
-      // signal is aborted. A later `begin()` replaces and invalidates it.
-    },
-  };
-}
-
 function errorMessage(error: unknown): string {
   return error instanceof Error && error.message.trim()
     ? error.message

apps/control-station/src/core/observation/viewerProfile.ts

@@ -0,0 +1,129 @@
+import type { RecordedAdmissionPhase } from "./recordedSessionAdmission";
+
+export type RerunViewportStatus = "idle" | "loading" | "ready" | "error";
+export type RecordedRerunView = "spatial" | "perception" | "perception3d" | "metrics";
+
+export interface RerunPlaybackState {
+  recordingId: string;
+  timeline: string;
+  rangeNs: { min: number; max: number } | null;
+  currentNs: number;
+  playing: boolean;
+  bufferedEndNs: number | null;
+  expectedStartNs: number | null;
+  expectedEndNs: number | null;
+  bufferProgress: number | null;
+  fullyBuffered: boolean;
+}
+
+export interface RerunPlaybackController {
+  seek: (timeNs: number) => void;
+  setPlaying: (playing: boolean) => void;
+  jumpToEnd: () => void;
+}
+
+export interface RecordedPerceptionLayers {
+  enabled: boolean;
+  cameraImage?: boolean;
+  detections2d: boolean;
+  segmentation: boolean;
+  cuboids3d: boolean;
+  costmap?: boolean;
+}
+
+export interface RecordedRrdArtifactDescriptor {
+  sourceUrl: string;
+  viewerSourceUrl: string;
+  byteLength: number;
+  sha256: string;
+}
+
+/**
+ * The native live receiver owns one acquisition lineage and never exposes
+ * recorded transport or autoplay policy.
+ */
+export interface LiveAcquisitionRerunProfile {
+  kind: "live-acquisition";
+  clock: "stream_time";
+  sourceUrl: string;
+  liveActivitySequence: number | null;
+  liveStreamId: string | null;
+  liveRecoveryAuthorityIdentity: string | null;
+}
+
+/**
+ * A sealed session is progressively presentable, while its shared playback
+ * controls remain fenced by the aggregate session admission gate.
+ */
+export interface RecordedSessionRerunProfile {
+  kind: "recorded-session";
+  clock: "session_time";
+  sourceUrl: string;
+  artifact: RecordedRrdArtifactDescriptor | null;
+  autoplayWhenReady: boolean;
+  presentationGate: RecordedAdmissionPhase;
+  expectedTimelineStartSeconds?: number;
+  expectedTimelineEndSeconds?: number;
+  initialPlaybackStartSeconds?: number;
+  view: RecordedRerunView;
+  viewResetGeneration: 0 | 1;
+  followTrajectory: boolean;
+  perceptionLayers: RecordedPerceptionLayers;
+  /** Explicit small blueprint endpoint when the viewer source is a merged LAB RRD. */
+  blueprintSourceUrl?: string;
+  /** Optional immutable RRD sidecar for LAB/model evidence on the same recording clock. */
+  perceptionSourceUrl?: string;
+  /** Selects one semantic entity without changing the sealed sidecar. */
+  semanticLayer?: "city" | "vegetation";
+  /** Keeps one native Rerun store/viewer while presenting the accepted two-pane LAB layout. */
+  unifiedPerception?: boolean;
+  /** Controlled camera-column share for the native horizontal Rerun container. */
+  unifiedCameraShare?: number;
+  /** Requests the canonical top-down eye without changing the world coordinate frame. */
+  planView?: boolean;
+  perceptionRetryGeneration: number;
+  lockPerceptionCameraInteraction: boolean;
+}
+
+/**
+ * Deprecated comparison-only contract for LAB artifacts that have not yet
+ * been republished as a native Rerun sidecar. It must never be selected by a
+ * canonical LAB route or start work in the background.
+ */
+export interface LaboratoryRecordedEvidenceViewerProfile {
+  kind: "lab-recorded-evidence";
+  clock: "source-sequence";
+  cameraTransport: "generation-bound-fmp4";
+  spatialTransport: "bounded-sealed-artifacts";
+  loadPolicy: "explicit-legacy-comparison-only";
+  workerRequired: false;
+}
+
+export type RerunViewerProfile =
+  | LiveAcquisitionRerunProfile
+  | RecordedSessionRerunProfile;
+
+export type ObservationViewerProfile =
+  | RerunViewerProfile
+  | LaboratoryRecordedEvidenceViewerProfile;
+
+export const LABORATORY_RECORDED_EVIDENCE_VIEWER_PROFILE = Object.freeze({
+  kind: "lab-recorded-evidence",
+  clock: "source-sequence",
+  cameraTransport: "generation-bound-fmp4",
+  spatialTransport: "bounded-sealed-artifacts",
+  loadPolicy: "explicit-legacy-comparison-only",
+  workerRequired: false,
+} satisfies LaboratoryRecordedEvidenceViewerProfile);
+
+export function liveAcquisitionRerunProfile(
+  input: Omit<LiveAcquisitionRerunProfile, "kind" | "clock">,
+): LiveAcquisitionRerunProfile {
+  return { kind: "live-acquisition", clock: "stream_time", ...input };
+}
+
+export function recordedSessionRerunProfile(
+  input: Omit<RecordedSessionRerunProfile, "kind" | "clock">,
+): RecordedSessionRerunProfile {
+  return { kind: "recorded-session", clock: "session_time", ...input };
+}

apps/control-station/src/core/observatory/aiComposition.ts

@@ -0,0 +1,347 @@
+import {
+  decodeObservatoryRecordedJob,
+  type ObservatoryRecordedJob,
+} from "./recordedJobs";
+
+const COMPOSITION_SCHEMA = "missioncore.observatory-ai-composition/v1";
+const CATALOG_SCHEMA = "missioncore.observatory-ai-module-catalog/v1";
+const RECEIPT_SCHEMA = "missioncore.observatory-ai-composition-receipt/v3";
+const SHA256 = /^[a-f0-9]{64}$/;
+
+export type AIGroupId = "segmentation" | "detection" | "geometry" | "range" | "motion" | "policy";
+
+export interface AIModule {
+  readonly moduleId: string;
+  readonly moduleSha256: string;
+  readonly label: string;
+  readonly dockerName: string;
+  readonly requires: readonly string[];
+  readonly provides: readonly string[];
+  readonly defaults: Readonly<Record<string, unknown>>;
+}
+
+export interface AIModuleGroup {
+  readonly group: AIGroupId;
+  readonly modules: readonly AIModule[];
+}
+
+export interface AIModuleCatalog {
+  readonly groups: readonly AIModuleGroup[];
+}
+
+export interface AICompositionReceipt {
+  readonly compositionSha256: string;
+  readonly created: boolean;
+  readonly dispatchReady: boolean;
+  readonly dispatchReason: string;
+  readonly setupIds: readonly string[];
+  readonly jobs: readonly ObservatoryRecordedJob[];
+  readonly run: AICompositionRun;
+}
+
+export interface AIViewerLayer {
+  readonly layerId: string;
+  readonly paneId: "camera" | "spatial";
+  readonly label: string;
+  readonly control: "toggle" | "toggle-with-settings";
+  readonly order: number;
+}
+
+export interface AICompositionPresentation {
+  readonly configurationLabel: string;
+  readonly modules: readonly { readonly moduleId: string; readonly label: string }[];
+  readonly viewerLayers: readonly AIViewerLayer[];
+}
+
+export interface AICompositionRun {
+  readonly runId: string;
+  readonly sourceSessionId: string;
+  readonly compositionSha256: string;
+  readonly moduleIds: readonly string[];
+  readonly setupIds: readonly string[];
+  readonly jobIds: readonly string[];
+  readonly resultIds: readonly string[];
+  readonly createdAtUtc: string;
+  readonly state: "running" | "ready" | "failed";
+  readonly configurationLabel: string;
+  readonly displayName: string | null;
+  readonly presentation: AICompositionPresentation;
+  readonly jobs: readonly ObservatoryRecordedJob[];
+}
+
+export const AI_MODULE_SETUP_IDS: Readonly<Record<string, string>> = Object.freeze({
+  ddrnet: "ai-segmentation-ddrnet-v1",
+  eomt: "ai-segmentation-eomt-v1",
+  tgs: "m49-tgs-portable-v2",
+  "rf-detr": "ai-detection-rf-detr-v1",
+  "object-distance": "ai-range-object-distance-v1",
+});
+
+export function aiModuleIdForSetup(setupId: string): string | null {
+  return Object.entries(AI_MODULE_SETUP_IDS).find(([, value]) => value === setupId)?.[0] ?? null;
+}
+
+export async function fetchAIModuleCatalog(signal?: AbortSignal): Promise<AIModuleCatalog> {
+  const response = await fetch("/api/v1/observatory/ai-module-catalog", {
+    headers: { Accept: "application/json" }, signal,
+  });
+  const body = await bodyOf(response);
+  if (!response.ok) throw apiError(body, response.status);
+  const root = record(body, "каталог AI-модулей");
+  exactKeys(root, ["authority", "groups", "schema_version"]);
+  if (root.schema_version !== CATALOG_SCHEMA) throw new Error("Версия каталога AI-модулей изменилась.");
+  const known = new Set<AIGroupId>(["segmentation", "detection", "geometry", "range", "motion", "policy"]);
+  const groups = array(root.groups).map((value): AIModuleGroup => {
+    const group = record(value, "группа AI-модулей");
+    exactKeys(group, ["group", "modules"]);
+    if (typeof group.group !== "string" || !known.has(group.group as AIGroupId)) {
+      throw new Error("Каталог вернул неизвестную группу AI-модулей.");
+    }
+    return { group: group.group as AIGroupId, modules: array(group.modules).map(moduleOf) };
+  });
+  if (new Set(groups.map((group) => group.group)).size !== groups.length) {
+    throw new Error("Каталог AI-модулей содержит повторяющиеся группы.");
+  }
+  return { groups };
+}
+
+export async function saveAIComposition(
+  sourceSessionId: string,
+  selections: readonly { group: AIGroupId; module: AIModule }[],
+): Promise<AICompositionReceipt> {
+  const response = await fetch("/api/v1/observatory/ai-compositions", {
+    method: "POST",
+    headers: { Accept: "application/json", "Content-Type": "application/json" },
+    body: JSON.stringify({
+      schema_version: COMPOSITION_SCHEMA,
+      source_session_id: sourceSessionId,
+      idempotency_key: createIdempotencyKey(),
+      selections: selections.map(({ group, module }) => ({
+        group, module_id: module.moduleId, module_sha256: module.moduleSha256,
+        parameters: module.defaults,
+      })),
+    }),
+  });
+  const body = await bodyOf(response);
+  if (!response.ok) throw apiError(body, response.status);
+  const root = record(body, "конфигурация AI-слоя");
+  exactKeys(root, ["composition", "composition_sha256", "created", "dispatch", "run", "schema_version", "source_session_id"]);
+  if (root.schema_version !== RECEIPT_SCHEMA || root.source_session_id !== sourceSessionId) {
+    throw new Error("Сервер вернул конфигурацию для другой записи.");
+  }
+  const digest = text(root.composition_sha256);
+  if (!SHA256.test(digest)) throw new Error("Сервер вернул некорректную идентичность композиции.");
+  const dispatch = record(root.dispatch, "готовность композиции");
+  exactKeys(dispatch, ["jobs", "ready", "reason", "setup_ids"]);
+  if (dispatch.ready !== true) {
+    throw new Error(text(dispatch.reason));
+  }
+  const setupIds = array(dispatch.setup_ids).map(text);
+  const jobs = array(dispatch.jobs).map(decodeObservatoryRecordedJob);
+  if (!jobs.length || jobs.length !== setupIds.length
+    || jobs.some((job, index) => job.setupId !== setupIds[index])) {
+    throw new Error("Сервер вернул неполную очередь композиции.");
+  }
+  const run = compositionRunOf(root.run);
+  return {
+    compositionSha256: digest,
+    created: boolean(dispatch && root.created),
+    dispatchReady: boolean(dispatch.ready),
+    dispatchReason: text(dispatch.reason),
+    setupIds,
+    jobs,
+    run,
+  };
+}
+
+export async function fetchAICompositionRuns(
+  sourceSessionId: string,
+  signal?: AbortSignal,
+): Promise<readonly AICompositionRun[]> {
+  const query = new URLSearchParams({ source_session_id: sourceSessionId });
+  const response = await fetch(`/api/v1/observatory/ai-composition-runs?${query}`, {
+    headers: { Accept: "application/json" }, signal,
+  });
+  const body = await bodyOf(response);
+  if (!response.ok) throw apiError(body, response.status);
+  const root = record(body, "запуски композиций");
+  exactKeys(root, ["items", "schema_version"]);
+  if (root.schema_version !== "missioncore.observatory-ai-composition-run-list/v1") {
+    throw new Error("Версия запусков AI-композиций изменилась.");
+  }
+  return array(root.items).map(compositionRunOf);
+}
+
+export async function renameAICompositionRunProjection(
+  runId: string,
+  displayName: string,
+): Promise<string> {
+  if (!/^ai-composition-[a-f0-9]{64}$/.test(runId)) {
+    throw new Error("Некорректная идентичность результата AI Inference.");
+  }
+  const normalized = displayName.trim();
+  if (!normalized || normalized.length > 160) {
+    throw new Error("Название результата должно содержать от 1 до 160 символов.");
+  }
+  const response = await fetch(`/api/v1/observatory/ai-composition-runs/${encodeURIComponent(runId)}`, {
+    method: "PATCH",
+    headers: { Accept: "application/json", "Content-Type": "application/json" },
+    body: JSON.stringify({
+      schema_version: "missioncore.observatory-ai-composition-run-rename/v1",
+      display_name: normalized,
+    }),
+  });
+  const body = await bodyOf(response);
+  if (!response.ok) throw apiError(body, response.status);
+  const row = record(body, "результат AI Inference");
+  exactKeys(row, ["display_name", "run_id", "schema_version"]);
+  if (
+    row.schema_version !== "missioncore.observatory-ai-composition-run-projection/v1"
+    || row.run_id !== runId
+    || row.display_name !== normalized
+  ) throw new Error("Сервер не подтвердил переименование результата AI Inference.");
+  return normalized;
+}
+
+export async function deleteAICompositionRunProjection(runId: string): Promise<void> {
+  if (!/^ai-composition-[a-f0-9]{64}$/.test(runId)) {
+    throw new Error("Некорректная идентичность результата AI Inference.");
+  }
+  const response = await fetch(`/api/v1/observatory/ai-composition-runs/${encodeURIComponent(runId)}`, {
+    method: "DELETE",
+    headers: { Accept: "application/json" },
+  });
+  if (!response.ok || response.status !== 204) {
+    throw apiError(await bodyOf(response), response.status);
+  }
+}
+
+function compositionRunOf(value: unknown): AICompositionRun {
+  const row = record(value, "запуск AI-композиции");
+  const expected = [
+    "composition_sha256", "configuration_label", "created_at_utc", "display_name", "job_ids", "jobs",
+    "module_ids", "presentation", "result_ids", "run_id", "schema_version", "setup_ids",
+    "source_session_id", "state",
+  ];
+  // The receipt embeds the immutable run before its live state projection.
+  const receiptShape = [
+    "composition_sha256", "created_at_utc", "job_ids", "module_ids", "presentation",
+    "run_id", "schema_version", "setup_ids", "source_session_id",
+  ];
+  const keys = Object.keys(row);
+  const projected = keys.length === expected.length;
+  exactKeys(row, projected ? expected : receiptShape);
+  if (row.schema_version !== "missioncore.observatory-ai-composition-run/v1") {
+    throw new Error("Версия запуска AI-композиции изменилась.");
+  }
+  const sourceSessionId = text(row.source_session_id);
+  const compositionSha256 = text(row.composition_sha256);
+  const runId = text(row.run_id);
+  if (!/^ai-composition-[a-f0-9]{64}$/.test(runId) || !SHA256.test(compositionSha256)) {
+    throw new Error("Некорректная идентичность запуска AI-композиции.");
+  }
+  const presentation = presentationOf(row.presentation);
+  const state = projected ? text(row.state) : "running";
+  if (!new Set(["running", "ready", "failed"]).has(state)) {
+    throw new Error("Неизвестное состояние запуска AI-композиции.");
+  }
+  return {
+    runId,
+    sourceSessionId,
+    compositionSha256,
+    moduleIds: array(row.module_ids).map(text),
+    setupIds: array(row.setup_ids).map(text),
+    jobIds: array(row.job_ids).map(text),
+    resultIds: projected ? array(row.result_ids).map(text) : [],
+    createdAtUtc: text(row.created_at_utc),
+    state: state as AICompositionRun["state"],
+    configurationLabel: projected ? text(row.configuration_label) : presentation.configurationLabel,
+    displayName: projected
+      ? row.display_name === null ? null : text(row.display_name)
+      : null,
+    presentation,
+    jobs: projected ? array(row.jobs).map(decodeObservatoryRecordedJob) : [],
+  };
+}
+
+function presentationOf(value: unknown): AICompositionPresentation {
+  const row = record(value, "проекция AI-композиции");
+  exactKeys(row, ["configuration_label", "modules", "schema_version", "viewer_layers"]);
+  if (row.schema_version !== "missioncore.observatory-presentation-projection/v1") {
+    throw new Error("Версия проекции AI-композиции изменилась.");
+  }
+  const modules = array(row.modules).map((value) => {
+    const module = record(value, "модуль проекции");
+    exactKeys(module, ["label", "module_id"]);
+    return { moduleId: text(module.module_id), label: text(module.label) };
+  });
+  const viewerLayers = array(row.viewer_layers).map((value): AIViewerLayer => {
+    const layer = record(value, "слой viewer");
+    exactKeys(layer, ["control", "label", "layer_id", "order", "pane_id"]);
+    const paneId = text(layer.pane_id);
+    const control = text(layer.control);
+    if (!new Set(["camera", "spatial"]).has(paneId)
+      || !new Set(["toggle", "toggle-with-settings"]).has(control)
+      || typeof layer.order !== "number") {
+      throw new Error("Некорректная проекция слоя viewer.");
+    }
+    return {
+      layerId: text(layer.layer_id), paneId: paneId as AIViewerLayer["paneId"],
+      label: text(layer.label), control: control as AIViewerLayer["control"], order: layer.order,
+    };
+  });
+  return { configurationLabel: text(row.configuration_label), modules, viewerLayers };
+}
+
+export async function fetchAICompositionJobs(
+  sourceSessionId: string,
+  signal?: AbortSignal,
+): Promise<readonly ObservatoryRecordedJob[]> {
+  const query = new URLSearchParams({ source_session_id: sourceSessionId });
+  const response = await fetch(`/api/v1/observatory/ai-runs?${query}`, {
+    headers: { Accept: "application/json" }, signal,
+  });
+  const body = await bodyOf(response);
+  if (!response.ok) throw apiError(body, response.status);
+  const root = record(body, "очередь AI-слоёв");
+  exactKeys(root, ["authority", "items", "schema_version"]);
+  if (root.schema_version !== "missioncore.observatory-recorded-job-list/v1") {
+    throw new Error("Версия очереди AI-слоёв изменилась.");
+  }
+  return array(root.items).map(decodeObservatoryRecordedJob);
+}
+
+function moduleOf(value: unknown): AIModule {
+  const row = record(value, "AI-модуль");
+  exactKeys(row, ["defaults", "docker_name", "label", "module_id", "module_sha256", "parameter_choices", "provides", "requires"]);
+  const digest = text(row.module_sha256);
+  if (!SHA256.test(digest)) throw new Error("Каталог вернул некорректную версию AI-модуля.");
+  return {
+    moduleId: text(row.module_id), moduleSha256: digest, label: text(row.label),
+    dockerName: text(row.docker_name), requires: array(row.requires).map(text),
+    provides: array(row.provides).map(text), defaults: record(row.defaults, "параметры AI-модуля"),
+  };
+}
+
+function record(value: unknown, label: string): Record<string, unknown> {
+  if (!value || typeof value !== "object" || Array.isArray(value)) throw new Error(`Некорректный ${label}.`);
+  return value as Record<string, unknown>;
+}
+function array(value: unknown): unknown[] { if (!Array.isArray(value)) throw new Error("Ожидался список."); return value; }
+function text(value: unknown): string { if (typeof value !== "string" || !value) throw new Error("Ожидался текст."); return value; }
+function boolean(value: unknown): boolean { if (typeof value !== "boolean") throw new Error("Ожидалось логическое значение."); return value; }
+function exactKeys(value: Record<string, unknown>, expected: string[]): void {
+  if (Object.keys(value).sort().join() !== [...expected].sort().join()) throw new Error("Контракт AI-слоя изменился.");
+}
+async function bodyOf(response: Response): Promise<unknown> { const value = await response.text(); try { return JSON.parse(value); } catch { return value; } }
+function apiError(body: unknown, status: number): Error {
+  const detail = body && typeof body === "object" && !Array.isArray(body) ? (body as Record<string, unknown>).detail : null;
+  return new Error(typeof detail === "string" ? detail : `Observatory API вернул HTTP ${status}.`);
+}
+
+function createIdempotencyKey(): string {
+  const entropy = typeof globalThis.crypto?.randomUUID === "function"
+    ? globalThis.crypto.randomUUID()
+    : `${Date.now()}-${Math.random().toString(16).slice(2)}`;
+  return `ai-layer:${entropy}`;
+}

apps/control-station/src/core/observatory/catalog.ts

@@ -0,0 +1,321 @@
+import {
+  type ObservationLabInstance,
+  type ObservationSessionFetch,
+  type ObservationSessionSummary,
+} from "../observation/sessionArchive";
+import { fetchObservationSessionCatalogPage } from "../observation/sessionCatalogPage";
+import {
+  observatoryRecordedRunBinding,
+  type ObservatoryRecordedRunBinding,
+} from "./recordedRun";
+
+export interface ObservatoryEvidence {
+  readonly sessionId: string;
+  readonly label: string;
+  readonly status: ObservationSessionSummary["status"];
+  readonly publishedAtUtc: string;
+  readonly lab: ObservationLabInstance;
+  readonly recordedRun: ObservatoryRecordedRunBinding | null;
+}
+
+export interface ObservatorySession {
+  readonly source: ObservationSessionSummary;
+  readonly evidence: readonly ObservatoryEvidence[];
+}
+
+export interface ObservatoryCatalog {
+  readonly items: readonly ObservatorySession[];
+  readonly unresolvedEvidence: readonly ObservatoryEvidence[];
+  readonly window: {
+    readonly limit: number;
+    readonly sourceCount: number;
+    readonly laboratoryCount: number;
+    readonly sourceLimitReached: boolean;
+    readonly laboratoryLimitReached: boolean;
+  };
+}
+
+export type ObservatoryCatalogMutation =
+  | {
+      readonly kind: "rename";
+      readonly displayName: string;
+      readonly revision: number;
+    }
+  | {
+      readonly kind: "delete";
+      readonly revision: number;
+    };
+
+export type ObservatoryCatalogMutationOverlay = ReadonlyMap<
+  string,
+  ObservatoryCatalogMutation
+>;
+
+export interface ObservatoryCatalogReconciliation {
+  readonly catalog: ObservatoryCatalog;
+  readonly overlay: ObservatoryCatalogMutationOverlay;
+}
+
+export class ObservatoryCatalogContractError extends Error {
+  constructor(message: string) {
+    super(message);
+    this.name = "ObservatoryCatalogContractError";
+  }
+}
+
+export function findObservatoryEvidence(
+  catalog: ObservatoryCatalog,
+  sessionId: string,
+): ObservatoryEvidence | null {
+  for (const item of catalog.items) {
+    const evidence = item.evidence.find(
+      (candidate) => candidate.sessionId === sessionId,
+    );
+    if (evidence) return evidence;
+  }
+  return catalog.unresolvedEvidence.find(
+    (candidate) => candidate.sessionId === sessionId,
+  ) ?? null;
+}
+
+export function observatoryCatalogConfirmsEvidenceDeletion(
+  catalog: ObservatoryCatalog,
+  sessionId: string,
+): boolean {
+  return !catalog.window.laboratoryLimitReached
+    && findObservatoryEvidence(catalog, sessionId) === null;
+}
+
+export function applyObservatoryCatalogMutationOverlay(
+  catalog: ObservatoryCatalog,
+  overlay: ObservatoryCatalogMutationOverlay,
+): ObservatoryCatalog {
+  if (overlay.size === 0) return catalog;
+
+  const removedSessionIds = new Set<string>();
+  const projectEvidence = (
+    evidence: ObservatoryEvidence,
+  ): ObservatoryEvidence | null => {
+    const mutation = overlay.get(evidence.sessionId);
+    if (!mutation) return evidence;
+    if (mutation.kind === "delete") {
+      removedSessionIds.add(evidence.sessionId);
+      return null;
+    }
+    return evidence.label === mutation.displayName
+      ? evidence
+      : { ...evidence, label: mutation.displayName };
+  };
+  const projectEvidenceList = (
+    evidence: readonly ObservatoryEvidence[],
+  ): ObservatoryEvidence[] => evidence.flatMap((candidate) => {
+    const projected = projectEvidence(candidate);
+    return projected ? [projected] : [];
+  });
+
+  const items = catalog.items.map((item) => ({
+    ...item,
+    evidence: projectEvidenceList(item.evidence),
+  }));
+  const unresolvedEvidence = projectEvidenceList(catalog.unresolvedEvidence);
+  return {
+    ...catalog,
+    items,
+    unresolvedEvidence,
+    window: {
+      ...catalog.window,
+      laboratoryCount: Math.max(
+        0,
+        catalog.window.laboratoryCount - removedSessionIds.size,
+      ),
+    },
+  };
+}
+
+export function reconcileObservatoryCatalogMutationOverlay(
+  serverCatalog: ObservatoryCatalog,
+  overlay: ObservatoryCatalogMutationOverlay,
+  requestMutationRevision: number,
+): ObservatoryCatalogReconciliation {
+  const remaining = new Map(overlay);
+  for (const [sessionId, mutation] of overlay) {
+    if (mutation.revision > requestMutationRevision) continue;
+    const evidence = findObservatoryEvidence(serverCatalog, sessionId);
+    const confirmed = mutation.kind === "rename"
+      ? evidence?.label === mutation.displayName
+      : observatoryCatalogConfirmsEvidenceDeletion(serverCatalog, sessionId);
+    if (confirmed) remaining.delete(sessionId);
+  }
+  return {
+    catalog: applyObservatoryCatalogMutationOverlay(serverCatalog, remaining),
+    overlay: remaining,
+  };
+}
+
+function newestFirst(left: string, right: string): number {
+  return Date.parse(right) - Date.parse(left);
+}
+
+function boundedLimit(limit: number): number {
+  return Number.isFinite(limit)
+    ? Math.min(100, Math.max(1, Math.floor(limit)))
+    : 100;
+}
+
+function evidenceFromSession(
+  session: ObservationSessionSummary,
+): ObservatoryEvidence | null {
+  if (!session.lab) {
+    throw new ObservatoryCatalogContractError(
+      `LAB-каталог вернул сессию ${session.id} без типизированной связи с источником.`,
+    );
+  }
+  // Historical LABs retain their archive and replay adapters. Observatory is
+  // the portable-profile product; a familiar LAB label is not admission.
+  if (session.lab.replayCapability?.kind !== "portable-result-review") return null;
+  const recordedRun = observatoryRecordedRunBinding(session.id, session.lab);
+  return {
+    sessionId: session.id,
+    label: session.label,
+    status: session.status,
+    publishedAtUtc: session.lab.publishedAtUtc,
+    lab: session.lab,
+    recordedRun,
+  };
+}
+
+function sortEvidence(
+  evidence: readonly ObservatoryEvidence[],
+): ObservatoryEvidence[] {
+  return [...evidence].sort((left, right) =>
+    newestFirst(left.publishedAtUtc, right.publishedAtUtc)
+      || left.sessionId.localeCompare(right.sessionId));
+}
+
+export function buildObservatoryCatalog(
+  sourceSessions: readonly ObservationSessionSummary[],
+  laboratorySessions: readonly ObservationSessionSummary[],
+  limit = 100,
+): ObservatoryCatalog {
+  const safeLimit = boundedLimit(limit);
+  const sources = new Map<string, ObservationSessionSummary>();
+  for (const source of sourceSessions) {
+    if (source.lab !== null) {
+      throw new ObservatoryCatalogContractError(
+        `Каталог источников вернул LAB-сессию ${source.id}.`,
+      );
+    }
+    sources.set(source.id, source);
+  }
+
+  const linked = new Map<string, ObservatoryEvidence[]>();
+  const unresolvedEvidence: ObservatoryEvidence[] = [];
+  for (const laboratorySession of laboratorySessions) {
+    const evidence = evidenceFromSession(laboratorySession);
+    if (!evidence) continue;
+    const sourceId = evidence.lab.sourceSessionId;
+    if (!sources.has(sourceId)) {
+      // A bounded traversal may stop before this source. Absence alone is
+      // not proof of a broken relationship or permission to remove data.
+      unresolvedEvidence.push(evidence);
+      continue;
+    }
+    const current = linked.get(sourceId) ?? [];
+    current.push(evidence);
+    linked.set(sourceId, current);
+  }
+
+  const items = [...sources.values()]
+    .sort((left, right) =>
+      newestFirst(left.startedAtUtc, right.startedAtUtc)
+        || left.id.localeCompare(right.id))
+    .map((source) => ({
+      source,
+      evidence: sortEvidence(linked.get(source.id) ?? []),
+    }));
+
+  return {
+    items,
+    unresolvedEvidence: sortEvidence(unresolvedEvidence),
+    window: {
+      limit: safeLimit,
+      sourceCount: sourceSessions.length,
+      laboratoryCount: [...linked.values()].reduce((count, items) => count + items.length, 0)
+        + unresolvedEvidence.length,
+      sourceLimitReached: sourceSessions.length >= safeLimit,
+      laboratoryLimitReached: laboratorySessions.length >= safeLimit,
+    },
+  };
+}
+
+export async function fetchObservatoryCatalog({
+  signal,
+  limit = 100,
+  fetcher = globalThis.fetch,
+}: {
+  signal?: AbortSignal;
+  limit?: number;
+  fetcher?: ObservationSessionFetch;
+} = {}): Promise<ObservatoryCatalog> {
+  const safeLimit = boundedLimit(limit);
+  const request = new AbortController();
+  const abort = () => request.abort(signal?.reason);
+  if (signal?.aborted) abort();
+  else signal?.addEventListener("abort", abort, { once: true });
+  try {
+    const [sources, laboratories] = await Promise.all([
+      readCatalogPages("source", safeLimit, fetcher, request.signal),
+      readCatalogPages("laboratory", safeLimit, fetcher, request.signal),
+    ]);
+    const catalog = buildObservatoryCatalog(sources.items, laboratories.items, safeLimit);
+    return {
+      ...catalog,
+      window: {
+        ...catalog.window,
+        sourceLimitReached: sources.hasMore,
+        laboratoryLimitReached: laboratories.hasMore,
+      },
+    };
+  } finally {
+    request.abort();
+    signal?.removeEventListener("abort", abort);
+  }
+}
+
+// Metadata only, never recordings or result artifacts. The cap is an explicit
+// partial window, not silent completeness or an unbounded background crawler.
+const MAX_CATALOG_PAGES = 256;
+
+async function readCatalogPages(
+  scope: "source" | "laboratory",
+  limit: number,
+  fetcher: ObservationSessionFetch,
+  signal: AbortSignal,
+): Promise<{ items: ObservationSessionSummary[]; hasMore: boolean }> {
+  const items: ObservationSessionSummary[] = [];
+  const seenIds = new Set<string>();
+  const cursors = new Set<string>();
+  let cursor: string | null = null;
+  for (let index = 0; index < MAX_CATALOG_PAGES; index += 1) {
+    const page = await fetchObservationSessionCatalogPage({ scope, limit, cursor, signal, fetcher });
+    for (const item of page.items) {
+      if (seenIds.has(item.id)) {
+        throw new ObservatoryCatalogContractError("Каталог повторил сессию между страницами.");
+      }
+      seenIds.add(item.id);
+      // Do not accumulate legacy provenance while walking the shared catalog.
+      if (scope === "source" || item.lab?.replayCapability?.kind === "portable-result-review") {
+        items.push(item);
+      } else if (!item.lab) {
+        throw new ObservatoryCatalogContractError("LAB-каталог вернул исходную сессию.");
+      }
+    }
+    cursor = page.nextCursor;
+    if (cursor === null) return { items, hasMore: false };
+    if (cursors.has(cursor)) {
+      throw new ObservatoryCatalogContractError("Каталог повторил курсор страницы.");
+    }
+    cursors.add(cursor);
+  }
+  return { items, hasMore: true };
+}

apps/control-station/src/core/observatory/catalogMutations.ts

@@ -0,0 +1,210 @@
+import type { ObservatoryRecordedRunBinding } from "./recordedRun";
+
+const SAFE_SESSION_ID = /^[A-Za-z0-9][A-Za-z0-9._:-]{0,127}$/;
+const RENAME_SCHEMA = "missioncore.observatory-lab-projection-rename/v1";
+const PROJECTION_SCHEMA = "missioncore.observatory-lab-projection/v1";
+
+export type ObservatoryCatalogMutationFetch = (
+  input: RequestInfo | URL,
+  init?: RequestInit,
+) => Promise<Response>;
+
+export interface ObservatoryLabProjectionMutationResult {
+  readonly schemaVersion: typeof PROJECTION_SCHEMA;
+  readonly sessionId: string;
+  readonly displayName: string;
+}
+
+export class ObservatoryCatalogMutationError extends Error {
+  readonly status: number | null;
+
+  constructor(message: string, status: number | null = null) {
+    super(message);
+    this.name = "ObservatoryCatalogMutationError";
+    this.status = status;
+  }
+}
+
+export async function renameObservatoryLabProjection(
+  binding: ObservatoryRecordedRunBinding,
+  displayName: string,
+  {
+    signal,
+    fetcher = globalThis.fetch,
+  }: {
+    signal?: AbortSignal;
+    fetcher?: ObservatoryCatalogMutationFetch;
+  } = {},
+): Promise<ObservatoryLabProjectionMutationResult> {
+  const sessionId = admittedProjectionId(binding);
+  const normalizedName = displayName.trim();
+  if (normalizedName.length < 1 || normalizedName.length > 160) {
+    throw new ObservatoryCatalogMutationError(
+      "Название лабораторного результата должно содержать от 1 до 160 символов.",
+    );
+  }
+  const response = await request(
+    fetcher,
+    `/api/v1/observatory/lab-projections/${encodeURIComponent(sessionId)}`,
+    {
+      method: "PATCH",
+      headers: {
+        Accept: "application/json",
+        "Content-Type": "application/json",
+      },
+      body: JSON.stringify({
+        schema_version: RENAME_SCHEMA,
+        display_name: normalizedName,
+      }),
+      signal,
+    },
+    "Не удалось переименовать лабораторный результат.",
+  );
+  const body = await responseBody(response);
+  if (!response.ok || response.status !== 200) {
+    throw apiError(
+      body,
+      `Переименование лабораторного результата вернуло HTTP ${response.status}.`,
+      response.status,
+    );
+  }
+  const decoded = decodeProjection(body);
+  if (decoded.sessionId !== sessionId || decoded.displayName !== normalizedName) {
+    throw new ObservatoryCatalogMutationError(
+      "Сервер не подтвердил точное переименование выбранного результата.",
+    );
+  }
+  return decoded;
+}
+
+export async function deleteObservatoryLabProjection(
+  binding: ObservatoryRecordedRunBinding,
+  {
+    signal,
+    fetcher = globalThis.fetch,
+  }: {
+    signal?: AbortSignal;
+    fetcher?: ObservatoryCatalogMutationFetch;
+  } = {},
+): Promise<void> {
+  const sessionId = admittedProjectionId(binding);
+  const response = await request(
+    fetcher,
+    `/api/v1/observatory/lab-projections/${encodeURIComponent(sessionId)}`,
+    {
+      method: "DELETE",
+      headers: { Accept: "application/json" },
+      signal,
+    },
+    "Не удалось удалить лабораторный результат из AI Inference.",
+  );
+  const body = await responseBody(response);
+  if (!response.ok || response.status !== 204) {
+    throw apiError(
+      body,
+      `Удаление лабораторного результата вернуло HTTP ${response.status}.`,
+      response.status,
+    );
+  }
+  if (body !== undefined) {
+    throw new ObservatoryCatalogMutationError(
+      "Сервер вернул данные после подтверждённого удаления лабораторного результата.",
+    );
+  }
+}
+
+function admittedProjectionId(binding: ObservatoryRecordedRunBinding): string {
+  const sessionId = binding.evidenceSessionId;
+  const admittedViewer = (
+    binding.kind === "canonical-recorded-rerun"
+    && binding.viewerProfile === "recorded-session"
+    && binding.timeline === "session_time"
+  ) || (
+    binding.kind === "portable-result-review"
+    && binding.viewerProfile === "portable-result"
+    && binding.timeline === "result-defined"
+  );
+  if (
+    !admittedViewer
+    || binding.activation !== "explicit"
+    || binding.resultId !== sessionId
+    || binding.sourceSessionId === sessionId
+    || !SAFE_SESSION_ID.test(sessionId)
+  ) {
+    throw new ObservatoryCatalogMutationError(
+      "Выбранный результат не допущен к изменению каталога AI Inference.",
+    );
+  }
+  return sessionId;
+}
+
+async function request(
+  fetcher: ObservatoryCatalogMutationFetch,
+  input: string,
+  init: RequestInit,
+  fallback: string,
+): Promise<Response> {
+  try {
+    return await fetcher(input, init);
+  } catch (error) {
+    if (error instanceof DOMException && error.name === "AbortError") throw error;
+    throw new ObservatoryCatalogMutationError(fallback);
+  }
+}
+
+async function responseBody(response: Response): Promise<unknown> {
+  const text = await response.text();
+  if (!text) return undefined;
+  try {
+    return JSON.parse(text) as unknown;
+  } catch {
+    return text;
+  }
+}
+
+function apiError(body: unknown, fallback: string, status: number): Error {
+  if (isRecord(body) && typeof body.detail === "string" && body.detail.trim()) {
+    return new ObservatoryCatalogMutationError(body.detail.trim(), status);
+  }
+  if (typeof body === "string" && body.trim()) {
+    return new ObservatoryCatalogMutationError(body.trim(), status);
+  }
+  return new ObservatoryCatalogMutationError(fallback, status);
+}
+
+function decodeProjection(value: unknown): ObservatoryLabProjectionMutationResult {
+  if (!isRecord(value)) {
+    throw new ObservatoryCatalogMutationError(
+      "Сервер вернул некорректное подтверждение лабораторного результата.",
+    );
+  }
+  const keys = Object.keys(value).sort();
+  const expected = ["display_name", "schema_version", "session_id"];
+  if (keys.length !== expected.length || keys.some((key, index) => key !== expected[index])) {
+    throw new ObservatoryCatalogMutationError(
+      "Подтверждение лабораторного результата содержит неизвестные поля.",
+    );
+  }
+  if (
+    value.schema_version !== PROJECTION_SCHEMA
+    || typeof value.session_id !== "string"
+    || !SAFE_SESSION_ID.test(value.session_id)
+    || typeof value.display_name !== "string"
+    || value.display_name.trim() !== value.display_name
+    || value.display_name.length < 1
+    || value.display_name.length > 160
+  ) {
+    throw new ObservatoryCatalogMutationError(
+      "Сервер вернул неподдерживаемый контракт лабораторного результата.",
+    );
+  }
+  return {
+    schemaVersion: PROJECTION_SCHEMA,
+    sessionId: value.session_id,
+    displayName: value.display_name,
+  };
+}
+
+function isRecord(value: unknown): value is Record<string, unknown> {
+  return typeof value === "object" && value !== null && !Array.isArray(value);
+}

apps/control-station/src/core/observatory/labViewProfile.ts

@@ -0,0 +1,104 @@
+import type { SceneSettings } from "../../sceneSettings";
+
+const PROFILE_SCHEMA = "missioncore.observatory-lab-view-profile/v1";
+
+export async function fetchLabViewProfile(
+  resultId: string,
+  signal?: AbortSignal,
+): Promise<SceneSettings | null> {
+  const response = await fetch(`/api/v1/observatory/lab-view-profiles/${encodeURIComponent(resultId)}`, {
+    headers: { Accept: "application/json" },
+    signal,
+  });
+  if (response.status === 404) return null;
+  const body: unknown = await response.json();
+  if (!response.ok) throw new Error("Профиль отображения LAB не загрузился.");
+  return decodeProfile(body, resultId);
+}
+
+export async function saveLabViewProfile(
+  resultId: string,
+  settings: SceneSettings,
+  signal?: AbortSignal,
+): Promise<SceneSettings> {
+  const response = await fetch(`/api/v1/observatory/lab-view-profiles/${encodeURIComponent(resultId)}`, {
+    method: "PUT",
+    headers: { Accept: "application/json", "Content-Type": "application/json" },
+    body: JSON.stringify({
+      schema_version: PROFILE_SCHEMA,
+      result_id: resultId,
+      scene_settings: {
+        point_size: settings.pointSize,
+        accumulation_seconds: settings.accumulationSeconds,
+        color_mode: settings.colorMode,
+        palette: settings.palette,
+        show_grid: settings.showGrid,
+        show_labels: settings.showLabels,
+        show_camera_frustums: settings.showCameraFrustums,
+      },
+    }),
+    signal,
+  });
+  const body: unknown = await response.json();
+  if (!response.ok) throw new Error("Настройки LAB не сохранились. Повторите закрытие окна.");
+  return decodeProfile(body, resultId);
+}
+
+function decodeProfile(value: unknown, expectedResultId: string): SceneSettings {
+  const row = record(value);
+  exactKeys(row, ["result_id", "scene_settings", "schema_version", "updated_at_utc"]);
+  if (row.schema_version !== PROFILE_SCHEMA || row.result_id !== expectedResultId) {
+    throw new Error("Сервер вернул профиль другой LAB.");
+  }
+  const settings = record(row.scene_settings);
+  exactKeys(settings, [
+    "accumulation_seconds", "color_mode", "palette", "point_size",
+    "show_camera_frustums", "show_grid", "show_labels",
+  ]);
+  const pointSize = finite(settings.point_size);
+  const accumulationSeconds = finite(settings.accumulation_seconds);
+  const colorMode = settings.color_mode;
+  const palette = settings.palette;
+  if (
+    pointSize < 0.1
+    || accumulationSeconds < 0
+    || !new Set(["intensity", "height", "distance", "rgb", "class"]).has(String(colorMode))
+    || !new Set(["turbo", "viridis", "plasma", "grayscale"]).has(String(palette))
+    || typeof settings.show_grid !== "boolean"
+    || typeof settings.show_labels !== "boolean"
+    || typeof settings.show_camera_frustums !== "boolean"
+  ) throw new Error("Сервер вернул повреждённый профиль LAB.");
+  return {
+    projection: "3d",
+    pointSize,
+    colorMode: colorMode as SceneSettings["colorMode"],
+    palette: palette as SceneSettings["palette"],
+    customColor: "#35d7c1",
+    accumulationSeconds,
+    showPoints: true,
+    showTrajectory: true,
+    showGrid: settings.show_grid,
+    showLabels: settings.show_labels,
+    showCameraFrustums: settings.show_camera_frustums,
+  };
+}
+
+function record(value: unknown): Record<string, unknown> {
+  if (!value || typeof value !== "object" || Array.isArray(value)) {
+    throw new Error("Некорректный профиль отображения LAB.");
+  }
+  return value as Record<string, unknown>;
+}
+
+function finite(value: unknown): number {
+  if (typeof value !== "number" || !Number.isFinite(value)) {
+    throw new Error("Некорректное числовое значение профиля LAB.");
+  }
+  return value;
+}
+
+function exactKeys(value: Record<string, unknown>, expected: string[]): void {
+  if (Object.keys(value).sort().join() !== [...expected].sort().join()) {
+    throw new Error("Контракт профиля отображения LAB изменился.");
+  }
+}

apps/control-station/src/core/observatory/laboratorySetups.ts

@@ -0,0 +1,449 @@
+export { fetchObservatoryPortableLaboratorySetups } from "./portableLaboratorySetups";
+
+const CATALOG_SCHEMA = "missioncore.observatory-laboratory-setup-catalog/v1";
+const PREFLIGHT_REQUEST_SCHEMA = "missioncore.observatory-run-preflight-request/v1";
+const PREFLIGHT_SCHEMA = "missioncore.observatory-run-preflight/v1";
+const SHA256 = /^[a-f0-9]{64}$/;
+
+export type ObservatoryLaboratorySetupOrigin =
+  | "archived-definition"
+  | "existing-result"
+  | "portable-definition";
+export type ObservatoryLaboratorySetupAction =
+  | "open-existing"
+  | "open-legacy"
+  | "check"
+  | "blocked";
+
+export interface ObservatoryLaboratoryRunDefinition {
+  readonly definitionId: string;
+  readonly version: number;
+  readonly workId: string | null;
+  readonly definitionSha256: string;
+  readonly resultSchema: string | null;
+  readonly resultKind: string | null;
+  readonly models: readonly {
+    readonly name: string;
+    readonly releaseId: string;
+    readonly modelId: string;
+    readonly architecture: string;
+  }[];
+  readonly configuration: readonly {
+    readonly role: string;
+    readonly sha256: string;
+  }[];
+}
+
+export interface ObservatoryLaboratoryPreservedResult {
+  readonly resultId: string;
+  readonly resultKind: string;
+  readonly relation: string;
+  readonly access: "legacy-lab" | "observatory" | "evidence-only";
+  readonly createdAtUtc: string;
+  readonly observatoryProjectionAvailable: boolean;
+}
+
+export interface ObservatoryLaboratorySetup {
+  readonly setupId: string;
+  readonly displayName: string;
+  readonly description: string;
+  readonly origin: ObservatoryLaboratorySetupOrigin;
+  readonly runDefinition: ObservatoryLaboratoryRunDefinition | null;
+  readonly compatibility: {
+    readonly compatible: boolean;
+    readonly reasons: readonly { readonly code: string; readonly message: string }[];
+  };
+  readonly executor: {
+    readonly contourId: string;
+    readonly state: "not-installed" | "ready";
+    readonly reasonCode: string;
+    readonly reason: string;
+  };
+  readonly preservedResults: readonly ObservatoryLaboratoryPreservedResult[];
+  readonly preflight: {
+    readonly outcome: "existing" | "ready" | "blocked";
+    readonly action: ObservatoryLaboratorySetupAction;
+    readonly reason: string;
+    readonly submissionAllowed: boolean;
+    readonly existingResultIds: readonly string[];
+  };
+}
+
+export interface ObservatoryLaboratorySetupCatalog {
+  readonly sourceSessionId: string;
+  readonly setups: readonly ObservatoryLaboratorySetup[];
+}
+
+// Cache identity is verified by the portable catalog decoder/server, never by a LAB label.
+export function selectableObservatorySetups(catalog: ObservatoryLaboratorySetupCatalog | null) {
+  return catalog?.setups.filter((setup) => (
+    setup.origin === "portable-definition"
+    && setup.runDefinition !== null
+    && setup.compatibility.compatible
+    && setup.preflight.outcome !== "existing"
+  )) ?? [];
+}
+
+export interface ObservatoryLaboratoryRunPreflight {
+  readonly sourceSessionId: string;
+  readonly setupId: string;
+  readonly definitionSha256: string | null;
+  readonly checkSha256: string | null;
+  readonly outcome: "existing" | "queueable" | "blocked";
+  readonly submissionAllowed: boolean;
+  readonly checks: readonly {
+    readonly checkId: string;
+    readonly outcome: "pass" | "fail" | "not-applicable";
+    readonly reasonCode: string;
+    readonly message: string;
+  }[];
+  readonly existingResultIds: readonly string[];
+}
+
+export type ObservatoryLaboratorySetupFetch = (
+  input: RequestInfo | URL,
+  init?: RequestInit,
+) => Promise<Response>;
+
+export class ObservatoryLaboratorySetupContractError extends Error {
+  readonly status: number | null;
+
+  constructor(message: string, status: number | null = null) {
+    super(message);
+    this.name = "ObservatoryLaboratorySetupContractError";
+    this.status = status;
+  }
+}
+
+export async function fetchObservatoryLaboratorySetups(
+  sourceSessionId: string,
+  {
+    signal,
+    fetcher = globalThis.fetch,
+  }: {
+    signal?: AbortSignal;
+    fetcher?: ObservatoryLaboratorySetupFetch;
+  } = {},
+): Promise<ObservatoryLaboratorySetupCatalog> {
+  const response = await request(
+    fetcher,
+    `/api/v1/observatory/laboratory-setups?source_session_id=${encodeURIComponent(sourceSessionId)}`,
+    { method: "GET", headers: { Accept: "application/json" }, signal },
+  );
+  const body = await responseBody(response);
+  if (!response.ok) throw apiError(body, response.status);
+  const catalog = decodeCatalog(body);
+  if (catalog.sourceSessionId !== sourceSessionId) {
+    throw new ObservatoryLaboratorySetupContractError(
+      "Каталог сетапов относится к другой исходной сессии.",
+    );
+  }
+  return catalog;
+}
+
+export async function preflightObservatoryLaboratorySetup(
+  sourceSessionId: string,
+  setup: ObservatoryLaboratorySetup,
+  {
+    signal,
+    fetcher = globalThis.fetch,
+  }: {
+    signal?: AbortSignal;
+    fetcher?: ObservatoryLaboratorySetupFetch;
+  } = {},
+): Promise<ObservatoryLaboratoryRunPreflight> {
+  const response = await request(
+    fetcher,
+    "/api/v1/observatory/run-preflights",
+    {
+      method: "POST",
+      headers: { Accept: "application/json", "Content-Type": "application/json" },
+      body: JSON.stringify({
+        schema_version: PREFLIGHT_REQUEST_SCHEMA,
+        source_session_id: sourceSessionId,
+        setup_id: setup.setupId,
+        definition_sha256: setup.runDefinition?.definitionSha256 ?? null,
+      }),
+      signal,
+    },
+  );
+  const body = await responseBody(response);
+  if (!response.ok) throw apiError(body, response.status);
+  const preflight = decodePreflight(body);
+  if (preflight.sourceSessionId !== sourceSessionId || preflight.setupId !== setup.setupId) {
+    throw new ObservatoryLaboratorySetupContractError(
+      "Preflight относится к другому источнику или сетапу.",
+    );
+  }
+  if (preflight.definitionSha256 !== (setup.runDefinition?.definitionSha256 ?? null)) {
+    throw new ObservatoryLaboratorySetupContractError(
+      "Preflight относится к другой версии сетапа.",
+    );
+  }
+  return preflight;
+}
+
+function decodeCatalog(value: unknown): ObservatoryLaboratorySetupCatalog {
+  const row = record(value, "каталог сетапов");
+  exactKeys(row, ["authority", "schema_version", "setups", "source_session_id"], "каталог сетапов");
+  exact(row.schema_version, CATALOG_SCHEMA, "schema_version каталога сетапов");
+  observationAuthority(row.authority);
+  return {
+    sourceSessionId: text(row.source_session_id, "source_session_id"),
+    setups: array(row.setups, "setups").map(decodeSetup),
+  };
+}
+
+function decodeSetup(value: unknown): ObservatoryLaboratorySetup {
+  const row = record(value, "сетап");
+  exactKeys(row, [
+    "authority", "compatibility", "description", "display_name", "executor", "origin",
+    "preflight", "preserved_results", "run_definition", "setup_id", "source",
+  ], "сетап");
+  observationAuthority(row.authority);
+  const origin = oneOf(row.origin, ["archived-definition", "existing-result"] as const, "origin");
+  const compatibility = record(row.compatibility, "compatibility");
+  const executor = record(row.executor, "executor");
+  const preflight = record(row.preflight, "preflight");
+  const source = record(row.source, "source");
+  const runDefinition = row.run_definition === null
+    ? null
+    : decodeRunDefinition(row.run_definition);
+  if ((origin === "archived-definition") !== (runDefinition !== null)) {
+    throw new ObservatoryLaboratorySetupContractError(
+      "Происхождение сетапа не совпадает с RunDefinition.",
+    );
+  }
+  exactKeys(source, ["label", "required_modalities", "session_id"], "source");
+  text(source.session_id, "source.session_id");
+  text(source.label, "source.label");
+  array(source.required_modalities, "source.required_modalities").forEach((item) => text(item, "source modality"));
+  exactKeys(compatibility, ["compatible", "reasons"], "compatibility");
+  exactKeys(executor, ["contour_id", "reason", "reason_code", "state"], "executor");
+  exactKeys(preflight, ["action", "existing_result_ids", "outcome", "reason", "submission_allowed"], "preflight");
+  return {
+    setupId: text(row.setup_id, "setup_id"),
+    displayName: text(row.display_name, "display_name"),
+    description: text(row.description, "description"),
+    origin,
+    runDefinition,
+    compatibility: {
+      compatible: boolean(row.compatibility && compatibility.compatible, "compatible"),
+      reasons: array(compatibility.reasons, "compatibility.reasons").map((item) => {
+        const reason = record(item, "compatibility reason");
+        exactKeys(reason, ["code", "message"], "compatibility reason");
+        return { code: text(reason.code, "reason.code"), message: text(reason.message, "reason.message") };
+      }),
+    },
+    executor: {
+      contourId: text(executor.contour_id, "executor.contour_id"),
+      state: exact(executor.state, "not-installed", "executor.state"),
+      reasonCode: text(executor.reason_code, "executor.reason_code"),
+      reason: text(executor.reason, "executor.reason"),
+    },
+    preservedResults: array(row.preserved_results, "preserved_results").map(decodePreservedResult),
+    preflight: {
+      outcome: oneOf(preflight.outcome, ["existing", "blocked"] as const, "preflight.outcome"),
+      action: oneOf(preflight.action, ["open-existing", "open-legacy", "blocked"] as const, "preflight.action"),
+      reason: text(preflight.reason, "preflight.reason"),
+      submissionAllowed: exact(preflight.submission_allowed, false, "preflight.submission_allowed"),
+      existingResultIds: array(preflight.existing_result_ids, "preflight.existing_result_ids").map((item) => text(item, "existing result id")),
+    },
+  };
+}
+
+function decodeRunDefinition(value: unknown): ObservatoryLaboratoryRunDefinition {
+  const row = record(value, "RunDefinition");
+  exactKeys(row, [
+    "authority", "configuration", "definition_id", "definition_sha256", "schema_version",
+    "source", "version", "work_id",
+  ], "RunDefinition");
+  exact(row.schema_version, "missioncore.observatory-run-definition/v1", "RunDefinition schema");
+  observationAuthority(row.authority);
+  const source = record(row.source, "RunDefinition source");
+  exactKeys(source, ["label", "required_modalities", "session_id"], "RunDefinition source");
+  text(source.session_id, "RunDefinition source.session_id");
+  text(source.label, "RunDefinition source.label");
+  array(source.required_modalities, "RunDefinition source.required_modalities")
+    .forEach((item) => text(item, "RunDefinition source modality"));
+  const digest = text(row.definition_sha256, "definition_sha256");
+  if (!SHA256.test(digest)) throw new ObservatoryLaboratorySetupContractError("Некорректный digest RunDefinition.");
+  return {
+    definitionId: text(row.definition_id, "definition_id"),
+    version: positiveInteger(row.version, "definition version"),
+    workId: text(row.work_id, "work_id"),
+    definitionSha256: digest,
+    resultSchema: null,
+    resultKind: null,
+    models: [],
+    configuration: array(row.configuration, "configuration").map((item) => {
+      const reference = record(item, "configuration reference");
+      exactKeys(reference, ["role", "sha256"], "configuration reference");
+      const sha256 = text(reference.sha256, "configuration sha256");
+      if (!SHA256.test(sha256)) throw new ObservatoryLaboratorySetupContractError("Некорректный digest конфигурации.");
+      return { role: text(reference.role, "configuration role"), sha256 };
+    }),
+  };
+}
+
+function decodePreservedResult(value: unknown): ObservatoryLaboratoryPreservedResult {
+  const row = record(value, "preserved result");
+  exactKeys(row, [
+    "access", "created_at_utc", "observatory_projection_available", "relation",
+    "result_id", "result_kind",
+  ], "preserved result");
+  return {
+    resultId: text(row.result_id, "result_id"),
+    resultKind: text(row.result_kind, "result_kind"),
+    relation: text(row.relation, "relation"),
+    access: oneOf(row.access, ["legacy-lab", "observatory", "evidence-only"] as const, "result access"),
+    createdAtUtc: text(row.created_at_utc, "created_at_utc"),
+    observatoryProjectionAvailable: boolean(row.observatory_projection_available, "observatory projection availability"),
+  };
+}
+
+function decodePreflight(value: unknown): ObservatoryLaboratoryRunPreflight {
+  const row = record(value, "preflight");
+  const baseKeys = [
+    "authority", "checks", "definition_sha256", "executor", "existing_result_ids",
+    "outcome", "schema_version", "setup_id", "source_session_id", "submission_allowed",
+  ] as const;
+  const hasPortableCheck = Object.hasOwn(row, "check_sha256");
+  exactKeys(
+    row,
+    hasPortableCheck ? [...baseKeys, "check_sha256"] : baseKeys,
+    "preflight",
+  );
+  exact(row.schema_version, PREFLIGHT_SCHEMA, "preflight schema");
+  observationAuthority(row.authority);
+  const digest = row.definition_sha256;
+  if (digest !== null && (typeof digest !== "string" || !SHA256.test(digest))) {
+    throw new ObservatoryLaboratorySetupContractError("Некорректный digest preflight.");
+  }
+  const checkDigest = hasPortableCheck ? row.check_sha256 : null;
+  if (
+    checkDigest !== null
+    && (typeof checkDigest !== "string" || !SHA256.test(checkDigest))
+  ) {
+    throw new ObservatoryLaboratorySetupContractError(
+      "Некорректный check digest preflight.",
+    );
+  }
+  const outcome = oneOf(
+    row.outcome,
+    ["existing", "queueable", "blocked"] as const,
+    "preflight outcome",
+  );
+  const submissionAllowed = boolean(
+    row.submission_allowed,
+    "preflight submission_allowed",
+  );
+  if (
+    submissionAllowed !== (outcome === "queueable")
+    || (hasPortableCheck && outcome === "queueable" && checkDigest === null)
+  ) {
+    throw new ObservatoryLaboratorySetupContractError(
+      "Preflight содержит противоречивое разрешение постановки в очередь.",
+    );
+  }
+  return {
+    sourceSessionId: text(row.source_session_id, "preflight source_session_id"),
+    setupId: text(row.setup_id, "preflight setup_id"),
+    definitionSha256: digest,
+    checkSha256: checkDigest,
+    outcome,
+    submissionAllowed,
+    checks: array(row.checks, "preflight checks").map((item) => {
+      const check = record(item, "preflight check");
+      exactKeys(check, ["check_id", "message", "outcome", "reason_code"], "preflight check");
+      return {
+        checkId: text(check.check_id, "check_id"),
+        outcome: oneOf(check.outcome, ["pass", "fail", "not-applicable"] as const, "check outcome"),
+        reasonCode: text(check.reason_code, "check reason_code"),
+        message: text(check.message, "check message"),
+      };
+    }),
+    existingResultIds: array(row.existing_result_ids, "existing_result_ids").map((item) => text(item, "existing result id")),
+  };
+}
+
+function observationAuthority(value: unknown): void {
+  const row = record(value, "authority");
+  const keys = ["commands_enabled", "actuation_allowed", "navigation_or_safety_accepted", "production_accepted"];
+  exactKeys(row, keys, "authority");
+  for (const key of keys) {
+    exact(row[key], false, `authority.${key}`);
+  }
+}
+
+async function request(fetcher: ObservatoryLaboratorySetupFetch, input: string, init: RequestInit): Promise<Response> {
+  try {
+    return await fetcher(input, init);
+  } catch (error) {
+    if (error instanceof DOMException && error.name === "AbortError") throw error;
+    throw new ObservatoryLaboratorySetupContractError("Каталог сетапов недоступен.");
+  }
+}
+
+async function responseBody(response: Response): Promise<unknown> {
+  const textBody = await response.text();
+  if (!textBody) return undefined;
+  try { return JSON.parse(textBody) as unknown; } catch { return textBody; }
+}
+
+function apiError(body: unknown, status: number): ObservatoryLaboratorySetupContractError {
+  const detail = body && typeof body === "object" && !Array.isArray(body)
+    ? (body as Record<string, unknown>).detail
+    : null;
+  return new ObservatoryLaboratorySetupContractError(
+    typeof detail === "string" && detail.trim() ? detail : `Observatory API вернул HTTP ${status}.`,
+    status,
+  );
+}
+
+function record(value: unknown, label: string): Record<string, unknown> {
+  if (!value || typeof value !== "object" || Array.isArray(value)) {
+    throw new ObservatoryLaboratorySetupContractError(`${label}: ожидался объект.`);
+  }
+  return value as Record<string, unknown>;
+}
+
+function array(value: unknown, label: string): unknown[] {
+  if (!Array.isArray(value)) throw new ObservatoryLaboratorySetupContractError(`${label}: ожидался массив.`);
+  return value;
+}
+
+function text(value: unknown, label: string): string {
+  if (typeof value !== "string" || !value.trim()) throw new ObservatoryLaboratorySetupContractError(`${label}: ожидался текст.`);
+  return value;
+}
+
+function boolean(value: unknown, label: string): boolean {
+  if (typeof value !== "boolean") throw new ObservatoryLaboratorySetupContractError(`${label}: ожидался boolean.`);
+  return value;
+}
+
+function positiveInteger(value: unknown, label: string): number {
+  if (!Number.isInteger(value) || Number(value) < 1) throw new ObservatoryLaboratorySetupContractError(`${label}: ожидалось положительное целое.`);
+  return Number(value);
+}
+
+function exact<T>(value: unknown, expected: T, label: string): T {
+  if (value !== expected) throw new ObservatoryLaboratorySetupContractError(`${label}: значение изменилось.`);
+  return expected;
+}
+
+function oneOf<const T extends readonly string[]>(value: unknown, allowed: T, label: string): T[number] {
+  if (typeof value !== "string" || !allowed.includes(value)) {
+    throw new ObservatoryLaboratorySetupContractError(`${label}: значение не поддерживается.`);
+  }
+  return value as T[number];
+}
+
+function exactKeys(value: Record<string, unknown>, expected: readonly string[], label: string): void {
+  const actual = Object.keys(value).sort();
+  const sortedExpected = [...expected].sort();
+  if (actual.length !== sortedExpected.length || actual.some((key, index) => key !== sortedExpected[index])) {
+    throw new ObservatoryLaboratorySetupContractError(`${label}: обнаружены неизвестные поля.`);
+  }
+}

apps/control-station/src/core/observatory/portableLaboratorySetupDecoder.ts

@@ -0,0 +1,373 @@
+import type {
+  ObservatoryLaboratoryPreservedResult,
+  ObservatoryLaboratoryRunDefinition,
+  ObservatoryLaboratorySetup,
+  ObservatoryLaboratorySetupCatalog,
+} from "./laboratorySetups";
+
+const PORTABLE_CATALOG_SCHEMA = "missioncore.observatory-portable-setup-catalog/v2";
+const SHA256 = /^[a-f0-9]{64}$/;
+
+export class ObservatoryPortableSetupDecodeError extends Error {
+  constructor(message: string) {
+    super(message);
+    this.name = "ObservatoryPortableSetupDecodeError";
+  }
+}
+
+export function decodePortableCatalog(value: unknown): ObservatoryLaboratorySetupCatalog {
+  const row = record(value, "portable-каталог сетапов");
+  exactKeys(
+    row,
+    ["authority", "schema_version", "setups", "source_session_id"],
+    "portable-каталог сетапов",
+  );
+  exact(row.schema_version, PORTABLE_CATALOG_SCHEMA, "schema_version portable-каталога");
+  observationAuthority(row.authority);
+  const sourceSessionId = text(row.source_session_id, "portable source_session_id");
+  return {
+    sourceSessionId,
+    setups: array(row.setups, "portable setups").map((item) => decodePortableSetup(item, sourceSessionId)),
+  };
+}
+
+function decodePortableSetup(value: unknown, sourceSessionId: string): ObservatoryLaboratorySetup {
+  const row = record(value, "portable-сетап");
+  exactKeys(row, [
+    "authority", "description", "display_name", "executor", "existing_results",
+    "origin", "preflight", "run_definition", "setup_id", "source_compatibility",
+    "source_requirements",
+  ], "portable-сетап");
+  exact(row.origin, "portable-definition", "portable origin");
+  observationAuthority(row.authority);
+  decodePortableSourceRequirements(row.source_requirements);
+  const setupId = text(row.setup_id, "portable setup_id");
+  const runDefinition = decodePortableRunDefinition(row.run_definition);
+
+  const compatibility = record(row.source_compatibility, "portable source_compatibility");
+  exactKeys(
+    compatibility,
+    ["compatible", "outcome", "reason", "reason_code"],
+    "portable source_compatibility",
+  );
+  const compatible = boolean(compatibility.compatible, "portable compatible");
+  exact(
+    compatibility.outcome,
+    compatible ? "pass" : "blocked",
+    "portable compatibility outcome",
+  );
+  const compatibilityReason = text(compatibility.reason, "portable compatibility reason");
+  const compatibilityReasonCode = text(
+    compatibility.reason_code,
+    "portable compatibility reason_code",
+  );
+
+  const executor = record(row.executor, "portable executor");
+  exactKeys(
+    executor,
+    ["contour_id", "ready", "reason", "reason_code", "state"],
+    "portable executor",
+  );
+  const executorState = oneOf(
+    executor.state,
+    ["not-installed", "ready"] as const,
+    "portable executor state",
+  );
+  const executorReady = boolean(executor.ready, "portable executor ready");
+  if (executorReady !== (executorState === "ready")) {
+    throw new ObservatoryPortableSetupDecodeError(
+      "Portable executor: состояние готовности противоречиво.",
+    );
+  }
+  const executorReason = executor.reason === null
+    ? "Исполнитель установлен."
+    : text(executor.reason, "portable executor reason");
+  const executorReasonCode = executor.reason_code === null
+    ? "portable-executor-ready"
+    : text(executor.reason_code, "portable executor reason_code");
+  if (
+    (executorReady && (executor.reason !== null || executor.reason_code !== null))
+    || (!executorReady && (executor.reason === null || executor.reason_code === null))
+  ) {
+    throw new ObservatoryPortableSetupDecodeError(
+      "Portable executor: причина недоступности противоречит состоянию.",
+    );
+  }
+
+  const preflight = record(row.preflight, "portable preflight");
+  exactKeys(preflight, [
+    "action", "existing_result_ids", "outcome", "reason", "submission_allowed",
+  ], "portable preflight");
+  const preflightOutcome = oneOf(
+    preflight.outcome,
+    ["existing", "ready", "blocked"] as const,
+    "portable preflight outcome",
+  );
+  const preflightAction = oneOf(
+    preflight.action,
+    ["open-existing", "check", "blocked"] as const,
+    "portable preflight action",
+  );
+  const submissionAllowed = boolean(
+    preflight.submission_allowed,
+    "portable preflight submission_allowed",
+  );
+  if (
+    submissionAllowed !== (preflightOutcome === "ready")
+    || (preflightOutcome === "ready" && preflightAction !== "check")
+    || (preflightOutcome === "blocked" && preflightAction !== "blocked")
+    || (preflightOutcome === "existing" && preflightAction !== "open-existing")
+    || (submissionAllowed && (!compatible || !executorReady))
+  ) {
+    throw new ObservatoryPortableSetupDecodeError(
+      "Portable preflight: состояние запуска противоречиво.",
+    );
+  }
+  const existingResults = array(row.existing_results, "portable existing_results").map(
+    (item) => decodePortableResult(item, sourceSessionId, setupId, runDefinition),
+  );
+  const existingResultIds = array(
+    preflight.existing_result_ids,
+    "portable existing_result_ids",
+  ).map((item) => text(item, "portable existing result id"));
+  if (
+    (existingResults.length > 0) !== (preflightOutcome === "existing")
+    || existingResultIds.length !== existingResults.length
+    || new Set(existingResultIds).size !== existingResultIds.length
+    || existingResults.some((result, index) => result.resultId !== existingResultIds[index])
+  ) {
+    throw new ObservatoryPortableSetupDecodeError(
+      "Portable result: готовность не соответствует проверенным результатам.",
+    );
+  }
+
+  return {
+    setupId,
+    displayName: text(row.display_name, "portable display_name"),
+    description: text(row.description, "portable description"),
+    origin: "portable-definition",
+    runDefinition,
+    compatibility: {
+      compatible,
+      reasons: compatible
+        ? []
+        : [{ code: compatibilityReasonCode, message: compatibilityReason }],
+    },
+    executor: {
+      contourId: text(executor.contour_id, "portable executor contour_id"),
+      state: executorState,
+      reasonCode: executorReasonCode,
+      reason: executorReason,
+    },
+    preservedResults: existingResults,
+    preflight: {
+      outcome: preflightOutcome,
+      action: preflightAction,
+      reason: text(preflight.reason, "portable preflight reason"),
+      submissionAllowed,
+      existingResultIds,
+    },
+  };
+}
+
+function decodePortableResult(
+  value: unknown, sourceSessionId: string, setupId: string,
+  definition: ObservatoryLaboratoryRunDefinition,
+): ObservatoryLaboratoryPreservedResult {
+  const row = record(value, "portable result");
+  exactKeys(row, [
+    "result_id", "result_kind", "relation", "access", "created_at_utc",
+    "observatory_projection_available", "identity",
+  ], "portable result");
+  exact(row.result_kind, definition.resultKind, "portable result kind");
+  exact(row.relation, "exact-recorded-computation", "portable result relation");
+  exact(row.access, "observatory", "portable result access");
+  exact(row.observatory_projection_available, true, "portable result availability");
+  const identity = record(row.identity, "portable result identity");
+  exactKeys(identity, [
+    "job_id", "source_session_id", "source_catalog_sha256", "source_bundle_sha256",
+    "source_capability_manifest_sha256", "setup_id", "definition_sha256",
+    "package_sha256", "artifact_manifest_id",
+  ], "portable result identity");
+  exact(identity.source_session_id, sourceSessionId, "portable result source");
+  exact(identity.setup_id, setupId, "portable result setup");
+  exact(identity.definition_sha256, definition.definitionSha256, "portable result definition");
+  text(identity.job_id, "portable result job");
+  for (const key of [
+    "source_catalog_sha256", "source_bundle_sha256", "source_capability_manifest_sha256",
+    "definition_sha256", "package_sha256", "artifact_manifest_id",
+  ]) {
+    if (!SHA256.test(text(identity[key], `portable result ${key}`))) {
+      throw new ObservatoryPortableSetupDecodeError(`Portable result: некорректный ${key}.`);
+    }
+  }
+  return {
+    resultId: text(row.result_id, "portable result id"),
+    resultKind: text(row.result_kind, "portable result kind"),
+    relation: "exact-recorded-computation",
+    access: "observatory",
+    createdAtUtc: text(row.created_at_utc, "portable result created_at_utc"),
+    observatoryProjectionAvailable: true,
+  };
+}
+
+function decodePortableSourceRequirements(value: unknown): void {
+  const row = record(value, "portable source_requirements");
+  exactKeys(row, [
+    "archive_id", "calibration_identity_sha256", "calibration_slot", "camera_height",
+    "camera_semantic_channel_id", "camera_source_id", "camera_width",
+    "exactly_one_media_epoch", "plugin_id", "recorded_media_init_sha256",
+    "recorded_media_type", "required_modalities", "seekable",
+  ], "portable source_requirements");
+  for (const key of [
+    "archive_id", "calibration_slot", "camera_semantic_channel_id", "camera_source_id",
+    "plugin_id", "recorded_media_type",
+  ]) text(row[key], `portable source_requirements.${key}`);
+  for (const key of ["calibration_identity_sha256", "recorded_media_init_sha256"]) {
+    const digest = text(row[key], `portable source_requirements.${key}`);
+    if (!SHA256.test(digest)) {
+      throw new ObservatoryPortableSetupDecodeError(
+        `portable source_requirements.${key}: некорректный digest.`,
+      );
+    }
+  }
+  positiveInteger(row.camera_width, "portable camera_width");
+  positiveInteger(row.camera_height, "portable camera_height");
+  exact(row.exactly_one_media_epoch, true, "portable exactly_one_media_epoch");
+  exact(row.seekable, true, "portable seekable");
+  array(row.required_modalities, "portable required_modalities")
+    .forEach((item) => text(item, "portable required modality"));
+}
+
+function decodePortableRunDefinition(value: unknown): ObservatoryLaboratoryRunDefinition {
+  const row = record(value, "portable RunDefinition");
+  exactKeys(row, [
+    "definition_id", "definition_sha256", "models", "result_kind", "result_schema",
+    "version",
+  ], "portable RunDefinition");
+  const digest = text(row.definition_sha256, "portable definition_sha256");
+  if (!SHA256.test(digest)) {
+    throw new ObservatoryPortableSetupDecodeError(
+      "Portable RunDefinition: некорректный digest.",
+    );
+  }
+  return {
+    definitionId: text(row.definition_id, "portable definition_id"),
+    version: positiveInteger(row.version, "portable definition version"),
+    workId: null,
+    definitionSha256: digest,
+    resultSchema: text(row.result_schema, "portable result_schema"),
+    resultKind: text(row.result_kind, "portable result_kind"),
+    models: array(row.models, "portable models").map((item) => {
+      const model = record(item, "portable model");
+      exactKeys(
+        model,
+        ["architecture", "model_id", "name", "release_id"],
+        "portable model",
+      );
+      return {
+        name: text(model.name, "portable model name"),
+        releaseId: text(model.release_id, "portable model release_id"),
+        modelId: text(model.model_id, "portable model model_id"),
+        architecture: text(model.architecture, "portable model architecture"),
+      };
+    }),
+    configuration: [],
+  };
+}
+
+function observationAuthority(value: unknown): void {
+  const row = record(value, "authority");
+  const keys = [
+    "commands_enabled",
+    "actuation_allowed",
+    "navigation_or_safety_accepted",
+    "production_accepted",
+  ];
+  exactKeys(row, keys, "authority");
+  for (const key of keys) exact(row[key], false, `authority.${key}`);
+}
+
+function record(value: unknown, label: string): Record<string, unknown> {
+  if (!value || typeof value !== "object" || Array.isArray(value)) {
+    throw new ObservatoryPortableSetupDecodeError(
+      `${label}: ожидался объект.`,
+    );
+  }
+  return value as Record<string, unknown>;
+}
+
+function array(value: unknown, label: string): unknown[] {
+  if (!Array.isArray(value)) {
+    throw new ObservatoryPortableSetupDecodeError(
+      `${label}: ожидался массив.`,
+    );
+  }
+  return value;
+}
+
+function text(value: unknown, label: string): string {
+  if (typeof value !== "string" || !value.trim()) {
+    throw new ObservatoryPortableSetupDecodeError(
+      `${label}: ожидался текст.`,
+    );
+  }
+  return value;
+}
+
+function boolean(value: unknown, label: string): boolean {
+  if (typeof value !== "boolean") {
+    throw new ObservatoryPortableSetupDecodeError(
+      `${label}: ожидался boolean.`,
+    );
+  }
+  return value;
+}
+
+function positiveInteger(value: unknown, label: string): number {
+  if (!Number.isInteger(value) || Number(value) < 1) {
+    throw new ObservatoryPortableSetupDecodeError(
+      `${label}: ожидалось положительное целое.`,
+    );
+  }
+  return Number(value);
+}
+
+function exact<T>(value: unknown, expected: T, label: string): T {
+  if (value !== expected) {
+    throw new ObservatoryPortableSetupDecodeError(
+      `${label}: значение изменилось.`,
+    );
+  }
+  return expected;
+}
+
+function oneOf<const T extends readonly string[]>(
+  value: unknown,
+  allowed: T,
+  label: string,
+): T[number] {
+  if (typeof value !== "string" || !allowed.includes(value)) {
+    throw new ObservatoryPortableSetupDecodeError(
+      `${label}: значение не поддерживается.`,
+    );
+  }
+  return value as T[number];
+}
+
+function exactKeys(
+  value: Record<string, unknown>,
+  expected: readonly string[],
+  label: string,
+): void {
+  const actual = Object.keys(value).sort();
+  const sortedExpected = [...expected].sort();
+  if (
+    actual.length !== sortedExpected.length
+    || actual.some((key, index) => key !== sortedExpected[index])
+  ) {
+    throw new ObservatoryPortableSetupDecodeError(
+      `${label}: обнаружены неизвестные поля.`,
+    );
+  }
+}

apps/control-station/src/core/observatory/portableLaboratorySetups.ts

@@ -0,0 +1,85 @@
+import { decodePortableCatalog } from "./portableLaboratorySetupDecoder";
+import type {
+  ObservatoryLaboratorySetupCatalog,
+} from "./laboratorySetups";
+
+export type ObservatoryPortableLaboratorySetupFetch = (
+  input: RequestInfo | URL,
+  init?: RequestInit,
+) => Promise<Response>;
+
+class ObservatoryPortableLaboratorySetupContractError extends Error {
+  readonly status: number | null;
+
+  constructor(message: string, status: number | null = null) {
+    super(message);
+    this.name = "ObservatoryPortableLaboratorySetupContractError";
+    this.status = status;
+  }
+}
+
+export async function fetchObservatoryPortableLaboratorySetups(
+  sourceSessionId: string,
+  {
+    signal,
+    fetcher = globalThis.fetch,
+  }: {
+    signal?: AbortSignal;
+    fetcher?: ObservatoryPortableLaboratorySetupFetch;
+  } = {},
+): Promise<ObservatoryLaboratorySetupCatalog> {
+  const response = await request(
+    fetcher,
+    `/api/v1/observatory/portable-laboratory-setups?source_session_id=${encodeURIComponent(sourceSessionId)}`,
+    { method: "GET", headers: { Accept: "application/json" }, signal },
+  );
+  const body = await responseBody(response);
+  if (!response.ok) throw apiError(body, response.status);
+  const catalog = decodePortableCatalog(body);
+  if (catalog.sourceSessionId !== sourceSessionId) {
+    throw new ObservatoryPortableLaboratorySetupContractError(
+      "Portable-каталог сетапов относится к другой исходной сессии.",
+    );
+  }
+  return catalog;
+}
+
+async function request(
+  fetcher: ObservatoryPortableLaboratorySetupFetch,
+  input: string,
+  init: RequestInit,
+): Promise<Response> {
+  try {
+    return await fetcher(input, init);
+  } catch (error) {
+    if (error instanceof DOMException && error.name === "AbortError") throw error;
+    throw new ObservatoryPortableLaboratorySetupContractError(
+      "Portable-каталог сетапов недоступен.",
+    );
+  }
+}
+
+async function responseBody(response: Response): Promise<unknown> {
+  const textBody = await response.text();
+  if (!textBody) return undefined;
+  try {
+    return JSON.parse(textBody) as unknown;
+  } catch {
+    return textBody;
+  }
+}
+
+function apiError(
+  body: unknown,
+  status: number,
+): ObservatoryPortableLaboratorySetupContractError {
+  const detail = body && typeof body === "object" && !Array.isArray(body)
+    ? (body as Record<string, unknown>).detail
+    : null;
+  return new ObservatoryPortableLaboratorySetupContractError(
+    typeof detail === "string" && detail.trim()
+      ? detail
+      : `Observatory API вернул HTTP ${status}.`,
+    status,
+  );
+}

apps/control-station/src/core/observatory/recordedJobs.ts

@@ -0,0 +1,338 @@
+const SUBMIT_SCHEMA = "missioncore.observatory-recorded-run-submit/v1";
+const JOB_SCHEMA = "missioncore.observatory-recorded-job/v1";
+const JOB_LIST_SCHEMA = "missioncore.observatory-recorded-job-list/v1";
+const SHA256 = /^[a-f0-9]{64}$/;
+
+export type ObservatoryRecordedJobState =
+  | "accepted"
+  | "queued"
+  | "claimed"
+  | "running"
+  | "paused"
+  | "preemption-pending"
+  | "succeeded"
+  | "failed"
+  | "reconciliation-required";
+
+export type ObservatoryRecordedJobPublicationState =
+  | "not-required"
+  | "pending"
+  | "failed"
+  | "published";
+
+export interface ObservatoryRecordedJob {
+  readonly jobId: string;
+  readonly idempotencyKey: string;
+  readonly sourceSessionId: string;
+  readonly setupId: string;
+  readonly definitionSha256: string;
+  readonly claimGeneration: number;
+  readonly state: ObservatoryRecordedJobState;
+  readonly restartFromZero: boolean;
+  readonly resultId: string | null;
+  readonly terminalMessage: string | null;
+  readonly publication: {
+    readonly state: ObservatoryRecordedJobPublicationState;
+    readonly attempts: number;
+    readonly error: string | null;
+    readonly publishedAtUtc: string | null;
+  };
+  readonly createdAtUtc: string;
+  readonly updatedAtUtc: string;
+}
+
+export type ObservatoryRecordedJobFetch = (
+  input: RequestInfo | URL,
+  init?: RequestInit,
+) => Promise<Response>;
+
+export class ObservatoryRecordedJobContractError extends Error {
+  readonly status: number | null;
+
+  constructor(message: string, status: number | null = null) {
+    super(message);
+    this.name = "ObservatoryRecordedJobContractError";
+    this.status = status;
+  }
+}
+
+export async function fetchObservatoryRecordedJobs(
+  sourceSessionId: string,
+  setupId: string,
+  {
+    signal,
+    definitionSha256,
+    fetcher = globalThis.fetch,
+  }: {
+    signal?: AbortSignal;
+    definitionSha256?: string;
+    fetcher?: ObservatoryRecordedJobFetch;
+  } = {},
+): Promise<readonly ObservatoryRecordedJob[]> {
+  const query = new URLSearchParams({
+    source_session_id: sourceSessionId,
+    setup_id: setupId,
+    limit: "20",
+  });
+  if (definitionSha256 !== undefined) query.set("definition_sha256", definitionSha256);
+  const response = await request(fetcher, `/api/v1/observatory/runs?${query}`, {
+    method: "GET",
+    headers: { Accept: "application/json" },
+    signal,
+  });
+  const body = await responseBody(response);
+  if (!response.ok) throw apiError(body, response.status);
+  const row = record(body, "список расчётов");
+  exactKeys(row, ["authority", "items", "schema_version"], "список расчётов");
+  exact(row.schema_version, JOB_LIST_SCHEMA, "schema_version списка расчётов");
+  observationAuthority(row.authority);
+  return array(row.items, "items").map(decodeObservatoryRecordedJob).filter((job) => (
+    job.sourceSessionId === sourceSessionId && job.setupId === setupId
+    && (definitionSha256 === undefined || job.definitionSha256 === definitionSha256)
+  ));
+}
+
+export async function submitObservatoryRecordedJob(
+  sourceSessionId: string,
+  setupId: string,
+  idempotencyKey: string,
+  portableBinding: {
+    readonly definitionSha256: string;
+    readonly checkSha256: string;
+  } | null,
+  {
+    signal,
+    fetcher = globalThis.fetch,
+  }: {
+    signal?: AbortSignal;
+    fetcher?: ObservatoryRecordedJobFetch;
+  } = {},
+): Promise<ObservatoryRecordedJob> {
+  const response = await request(fetcher, "/api/v1/observatory/runs", {
+    method: "POST",
+    headers: { Accept: "application/json", "Content-Type": "application/json" },
+    body: JSON.stringify({
+      schema_version: SUBMIT_SCHEMA,
+      idempotency_key: idempotencyKey,
+      source_session_id: sourceSessionId,
+      setup_id: setupId,
+      ...(portableBinding === null ? {} : {
+        definition_sha256: portableBinding.definitionSha256,
+        check_sha256: portableBinding.checkSha256,
+      }),
+    }),
+    signal,
+  });
+  const body = await responseBody(response);
+  if (!response.ok) throw apiError(body, response.status);
+  const job = decodeObservatoryRecordedJob(body);
+  if (job.sourceSessionId !== sourceSessionId || job.setupId !== setupId
+    || (portableBinding !== null && job.definitionSha256 !== portableBinding.definitionSha256)) {
+    throw new ObservatoryRecordedJobContractError(
+      "Расчёт относится к другой сессии, сетапу или версии профиля.",
+    );
+  }
+  return job;
+}
+
+export async function retryObservatoryRecordedJobPublication(
+  jobId: string,
+  {
+    signal,
+    fetcher = globalThis.fetch,
+  }: {
+    signal?: AbortSignal;
+    fetcher?: ObservatoryRecordedJobFetch;
+  } = {},
+): Promise<ObservatoryRecordedJob> {
+  const response = await request(
+    fetcher,
+    `/api/v1/observatory/runs/${encodeURIComponent(jobId)}/publication/retry`,
+    {
+      method: "POST",
+      headers: { Accept: "application/json" },
+      signal,
+    },
+  );
+  const body = await responseBody(response);
+  if (!response.ok) throw apiError(body, response.status);
+  const job = decodeObservatoryRecordedJob(body);
+  if (job.jobId !== jobId) {
+    throw new ObservatoryRecordedJobContractError(
+      "Повтор публикации вернул другой расчёт.",
+    );
+  }
+  return job;
+}
+
+export function decodeObservatoryRecordedJob(value: unknown): ObservatoryRecordedJob {
+  const row = record(value, "расчёт");
+  exactKeys(row, [
+    "authority", "checkpoint_policy", "claim_generation", "claim_lease", "created_at_utc", "executor",
+    "idempotency_key", "identity_sha256", "job_id", "preemption_receipt_sha256",
+    "preemption_requested", "priority", "publication", "request_sha256", "restart_from_zero", "result",
+    "schema_version", "setup", "source", "state", "submission_receipt_sha256", "terminal",
+    "updated_at_utc",
+  ], "расчёт");
+  exact(row.schema_version, JOB_SCHEMA, "schema_version расчёта");
+  observationAuthority(row.authority);
+  digest(row.request_sha256, "request_sha256");
+  digest(row.identity_sha256, "identity_sha256");
+  digest(row.submission_receipt_sha256, "submission_receipt_sha256");
+  const source = record(row.source, "source");
+  exactKeys(source, [
+    "adapter", "bundle_sha256", "capability_manifest_sha256", "catalog_sha256", "session_id",
+  ], "source");
+  digest(source.catalog_sha256, "source.catalog_sha256");
+  digest(source.bundle_sha256, "source.bundle_sha256");
+  digest(source.capability_manifest_sha256, "source.capability_manifest_sha256");
+  const setup = record(row.setup, "setup");
+  exactKeys(setup, ["definition_id", "definition_sha256", "definition_version", "setup_id"], "setup");
+  digest(setup.definition_sha256, "setup.definition_sha256");
+  const state = oneOf(row.state, [
+    "accepted", "queued", "claimed", "running", "paused", "preemption-pending",
+    "succeeded", "failed", "reconciliation-required",
+  ] as const, "state");
+  if (row.claim_lease !== null) {
+    const lease = record(row.claim_lease, "claim_lease");
+    exactKeys(
+      lease,
+      ["claimed_at_utc", "expires_at_utc", "heartbeat_at_utc", "renewal_count"],
+      "claim_lease",
+    );
+    text(lease.claimed_at_utc, "claim_lease.claimed_at_utc");
+    text(lease.expires_at_utc, "claim_lease.expires_at_utc");
+    text(lease.heartbeat_at_utc, "claim_lease.heartbeat_at_utc");
+    nonNegativeInteger(lease.renewal_count, "claim_lease.renewal_count");
+  }
+  const result = row.result === null ? null : record(row.result, "result");
+  if (result !== null) exactKeys(result, ["result_id", "sha256"], "result");
+  const terminal = row.terminal === null ? null : record(row.terminal, "terminal");
+  if (terminal !== null) exactKeys(terminal, ["code", "message"], "terminal");
+  const publication = record(row.publication, "publication");
+  exactKeys(
+    publication,
+    ["attempts", "error", "published_at_utc", "state"],
+    "publication",
+  );
+  const publicationState = oneOf(publication.state, [
+    "not-required", "pending", "failed", "published",
+  ] as const, "publication.state");
+  const publicationError = publication.error === null
+    ? null
+    : text(publication.error, "publication.error");
+  const publishedAtUtc = publication.published_at_utc === null
+    ? null
+    : text(publication.published_at_utc, "publication.published_at_utc");
+  return {
+    jobId: text(row.job_id, "job_id"),
+    idempotencyKey: text(row.idempotency_key, "idempotency_key"),
+    sourceSessionId: text(source.session_id, "source.session_id"),
+    setupId: text(setup.setup_id, "setup.setup_id"),
+    definitionSha256: String(setup.definition_sha256),
+    claimGeneration: nonNegativeInteger(row.claim_generation, "claim_generation"),
+    state,
+    restartFromZero: boolean(row.restart_from_zero, "restart_from_zero"),
+    resultId: result === null ? null : text(result.result_id, "result.result_id"),
+    terminalMessage: terminal === null || terminal.message === null
+      ? null
+      : text(terminal.message, "terminal.message"),
+    publication: {
+      state: publicationState,
+      attempts: nonNegativeInteger(publication.attempts, "publication.attempts"),
+      error: publicationError,
+      publishedAtUtc,
+    },
+    createdAtUtc: text(row.created_at_utc, "created_at_utc"),
+    updatedAtUtc: text(row.updated_at_utc, "updated_at_utc"),
+  };
+}
+
+function observationAuthority(value: unknown): void {
+  const row = record(value, "authority");
+  const keys = ["commands_enabled", "actuation_allowed", "navigation_or_safety_accepted", "production_accepted"];
+  exactKeys(row, keys, "authority");
+  keys.forEach((key) => exact(row[key], false, `authority.${key}`));
+}
+
+async function request(fetcher: ObservatoryRecordedJobFetch, input: string, init: RequestInit): Promise<Response> {
+  try {
+    return await fetcher(input, init);
+  } catch (error) {
+    if (error instanceof DOMException && error.name === "AbortError") throw error;
+    throw new ObservatoryRecordedJobContractError("Очередь расчётов недоступна.");
+  }
+}
+
+async function responseBody(response: Response): Promise<unknown> {
+  const body = await response.text();
+  if (!body) return undefined;
+  try { return JSON.parse(body) as unknown; } catch { return body; }
+}
+
+function apiError(body: unknown, status: number): ObservatoryRecordedJobContractError {
+  const detail = body && typeof body === "object" && !Array.isArray(body)
+    ? (body as Record<string, unknown>).detail
+    : null;
+  return new ObservatoryRecordedJobContractError(
+    typeof detail === "string" && detail.trim() ? detail : `Observatory API вернул HTTP ${status}.`,
+    status,
+  );
+}
+
+function record(value: unknown, label: string): Record<string, unknown> {
+  if (!value || typeof value !== "object" || Array.isArray(value)) {
+    throw new ObservatoryRecordedJobContractError(`${label}: ожидался объект.`);
+  }
+  return value as Record<string, unknown>;
+}
+
+function array(value: unknown, label: string): unknown[] {
+  if (!Array.isArray(value)) throw new ObservatoryRecordedJobContractError(`${label}: ожидался массив.`);
+  return value;
+}
+
+function text(value: unknown, label: string): string {
+  if (typeof value !== "string" || !value.trim()) {
+    throw new ObservatoryRecordedJobContractError(`${label}: ожидался текст.`);
+  }
+  return value;
+}
+
+function digest(value: unknown, label: string): string {
+  const valueText = text(value, label);
+  if (!SHA256.test(valueText)) throw new ObservatoryRecordedJobContractError(`${label}: некорректный digest.`);
+  return valueText;
+}
+
+function boolean(value: unknown, label: string): boolean {
+  if (typeof value !== "boolean") throw new ObservatoryRecordedJobContractError(`${label}: ожидался boolean.`);
+  return value;
+}
+
+function nonNegativeInteger(value: unknown, label: string): number {
+  if (!Number.isInteger(value) || Number(value) < 0) {
+    throw new ObservatoryRecordedJobContractError(`${label}: ожидалось целое число.`);
+  }
+  return Number(value);
+}
+
+function exact<T>(value: unknown, expected: T, label: string): T {
+  if (value !== expected) throw new ObservatoryRecordedJobContractError(`${label}: значение изменилось.`);
+  return expected;
+}
+
+function oneOf<const T extends readonly string[]>(value: unknown, allowed: T, label: string): T[number] {
+  if (typeof value !== "string" || !allowed.includes(value)) {
+    throw new ObservatoryRecordedJobContractError(`${label}: значение не поддерживается.`);
+  }
+  return value as T[number];
+}
+
+function exactKeys(value: Record<string, unknown>, expected: readonly string[], label: string): void {
+  const actual = Object.keys(value).sort();
+  const sortedExpected = [...expected].sort();
+  if (actual.length !== sortedExpected.length || actual.some((key, index) => key !== sortedExpected[index])) {
+    throw new ObservatoryRecordedJobContractError(`${label}: обнаружены неизвестные поля.`);
+  }
+}

apps/control-station/src/core/observatory/recordedProgress.ts

@@ -0,0 +1,124 @@
+import type { ObservatoryRecordedJob } from "./recordedJobs";
+
+const PHASES = {
+  "source-transfer": "Передаём входные данные",
+  "source-preparation": "Подготавливаем вход",
+  computing: "Обрабатываем запись",
+  "result-assembly": "Собираем результат",
+  "result-transfer": "Передаём результат",
+} as const;
+const UNITS = { frames: "кадров", members: "файлов", steps: "операций" } as const;
+type Phase = keyof typeof PHASES;
+type Unit = keyof typeof UNITS;
+
+export interface RecordedProgressView {
+  readonly jobId: string;
+  readonly claimGeneration: number;
+  readonly sequence: number;
+  readonly phase: Phase;
+  readonly unit: Unit;
+  readonly completed: number;
+  readonly total: number | null;
+  readonly ageSeconds: number;
+  readonly elapsedSeconds: number;
+  readonly phaseElapsedSeconds: number;
+}
+
+export async function fetchRecordedProgress(
+  job: ObservatoryRecordedJob,
+  { signal, fetcher = globalThis.fetch }: {
+    signal?: AbortSignal;
+    fetcher?: typeof globalThis.fetch;
+  } = {},
+): Promise<RecordedProgressView | null> {
+  const request = new AbortController();
+  const abort = () => request.abort();
+  signal?.addEventListener("abort", abort, { once: true });
+  if (signal?.aborted) request.abort();
+  const timer = globalThis.setTimeout(abort, 2_500);
+  try {
+    const response = await fetcher(
+      `/api/v1/observatory/runs/${encodeURIComponent(job.jobId)}/progress`,
+      { signal: request.signal, headers: { Accept: "application/json" } },
+    );
+    if (!response.ok) throw new Error("Прогресс расчёта недоступен.");
+    return decodeRecordedProgress(await response.json(), job);
+  } finally {
+    globalThis.clearTimeout(timer);
+    signal?.removeEventListener("abort", abort);
+  }
+}
+
+export function decodeRecordedProgress(
+  value: unknown, job: ObservatoryRecordedJob,
+): RecordedProgressView | null {
+  const row = object(value);
+  keys(row, ["schema_version", "job_id", "source_session_id", "setup_id",
+    "definition_sha256", "claim_generation", "state", "received_at_utc", "age_seconds", "progress"]);
+  if (row.schema_version !== "missioncore.observatory-recorded-progress-view/v1"
+    || row.job_id !== job.jobId || row.source_session_id !== job.sourceSessionId
+    || row.setup_id !== job.setupId || row.definition_sha256 !== job.definitionSha256
+    || row.claim_generation !== job.claimGeneration) throw new Error("Прогресс другой попытки.");
+  if (row.progress === null || row.state !== job.state) return null;
+  const progress = object(row.progress);
+  keys(progress, ["schema_version", "claim_generation", "sequence", "phase_index",
+    "phase", "unit", "completed", "total", "elapsed_seconds", "phase_elapsed_seconds"]);
+  if (progress.schema_version !== "missioncore.observatory-recorded-progress/v1"
+    || progress.claim_generation !== row.claim_generation
+    || !(typeof progress.phase === "string" && Object.hasOwn(PHASES, progress.phase))
+    || !(typeof progress.unit === "string" && Object.hasOwn(UNITS, progress.unit))
+    || typeof row.received_at_utc !== "string" || !Number.isFinite(Date.parse(row.received_at_utc))) {
+    throw new Error("Некорректный прогресс.");
+  }
+  const completed = integer(progress.completed);
+  const total = progress.total === null ? null : integer(progress.total, 1);
+  const elapsed = finite(progress.elapsed_seconds);
+  const phaseElapsed = finite(progress.phase_elapsed_seconds);
+  if ((total !== null && completed > total) || phaseElapsed > elapsed) {
+    throw new Error("Некорректные счётчики прогресса.");
+  }
+  integer(progress.phase_index);
+  return {
+    jobId: job.jobId, claimGeneration: integer(progress.claim_generation, 1),
+    sequence: integer(progress.sequence, 1), phase: progress.phase as Phase,
+    unit: progress.unit as Unit, completed, total, ageSeconds: finite(row.age_seconds),
+    elapsedSeconds: elapsed, phaseElapsedSeconds: phaseElapsed,
+  };
+}
+
+export function recordedProgressLabel(
+  job: ObservatoryRecordedJob | null, progress: RecordedProgressView | null,
+): string {
+  if (job?.publication.state === "pending") return "Сохраняем результат";
+  if (!job || job.state === "accepted" || job.state === "queued") return "Ожидаем расчёт";
+  if (job.state === "failed") return "Ошибка расчёта";
+  if (job.state === "succeeded") return "Расчёт завершён";
+  if (job.state === "paused" || job.state === "preemption-pending") return "Расчёт приостановлен";
+  if (job.state === "reconciliation-required") return "Проверяем состояние расчёта";
+  if (!progress || progress.jobId !== job.jobId
+    || progress.claimGeneration !== job.claimGeneration) return "Ожидаем данные расчёта";
+  if (progress.ageSeconds > 15) return "Ожидаем обновление прогресса";
+  const count = progress.total === null
+    ? (progress.completed > 0 ? ` · ${progress.completed.toLocaleString("ru-RU")} ${UNITS[progress.unit]}` : "")
+    : ` · ${progress.completed.toLocaleString("ru-RU")} / ${progress.total.toLocaleString("ru-RU")} ${UNITS[progress.unit]}`;
+  return PHASES[progress.phase] + count;
+}
+
+function object(value: unknown): Record<string, unknown> {
+  if (!value || typeof value !== "object" || Array.isArray(value)) throw new Error("Прогресс: ожидался объект.");
+  return value as Record<string, unknown>;
+}
+function keys(row: Record<string, unknown>, expected: string[]): void {
+  if (Object.keys(row).length !== expected.length || expected.some((key) => !Object.hasOwn(row, key))) {
+    throw new Error("Прогресс: неизвестные поля.");
+  }
+}
+function finite(value: unknown): number {
+  if (typeof value !== "number" || !Number.isFinite(value) || value < 0) throw new Error("Прогресс: некорректное число.");
+  return value;
+}
+function integer(value: unknown, minimum = 0): number {
+  const number = finite(value);
+  if (!Number.isSafeInteger(number) || number < minimum) throw new Error("Прогресс: некорректный счётчик.");
+  return number;
+}

apps/control-station/src/core/observatory/recordedRun.ts

@@ -0,0 +1,335 @@
+import type { LaboratoryFetch } from "../laboratory/advancedResults";
+import {
+  fetchVegetationShadowResultMetadata,
+  type VegetationFullRouteReview,
+  type VegetationShadowResult,
+} from "../laboratory/vegetationShadow";
+import type { ObservationLabInstance } from "../observation/sessionArchive";
+import {
+  decodeLabReplayCapability,
+  decodeCanonicalLabReplayCapabilityProvenance,
+  decodePortableLabReplayCapabilityProvenance,
+  ObservationLabReplayCapabilityContractError,
+} from "../observation/labReplayCapability";
+
+const CANONICAL_RESULT_ID = /^lab-v1-vegetation-shadow-[a-f0-9]{64}$/;
+const CANONICAL_SOURCE_SESSION_ID = "20260828T130511Z_viewer_live";
+
+interface ObservatoryRecordedRunBindingBase {
+  readonly evidenceSessionId: string;
+  readonly sourceSessionId: string;
+  readonly resultId: string;
+  readonly activation: "explicit";
+}
+
+export interface ObservatoryCanonicalRecordedRunBinding
+  extends ObservatoryRecordedRunBindingBase {
+  readonly kind: "canonical-recorded-rerun";
+  readonly viewerProfile: "recorded-session";
+  readonly timeline: "session_time";
+}
+
+export interface ObservatoryPortableResultBinding
+  extends ObservatoryRecordedRunBindingBase {
+  readonly kind: "portable-result-review";
+  readonly viewerProfile: "portable-result";
+  readonly timeline: "result-defined";
+  readonly definitionSha256: string;
+}
+
+export type ObservatoryRecordedRunBinding =
+  | ObservatoryCanonicalRecordedRunBinding
+  | ObservatoryPortableResultBinding;
+
+export interface ObservatoryPortableResultReview {
+  readonly kind: "portable-result";
+  readonly resultId: string;
+  readonly sourceSessionId: string;
+  readonly resultKind: string;
+  readonly definitionSha256: string;
+  readonly calculationProfile: Readonly<Record<string, unknown>> | null;
+  readonly artifactManifestId: string;
+  readonly artifacts: readonly {
+    readonly role: string;
+    readonly mediaType: string;
+    readonly sha256: string;
+    readonly byteLength: number;
+  }[];
+  readonly resultDocument: Readonly<Record<string, unknown>>;
+}
+
+export type ObservatoryRecordedRunReview =
+  | { readonly kind: "canonical-recorded-rerun"; readonly review: VegetationFullRouteReview }
+  | ObservatoryPortableResultReview;
+
+export class ObservatoryRecordedRunContractError extends Error {
+  constructor(message: string) {
+    super(message);
+    this.name = "ObservatoryRecordedRunContractError";
+  }
+}
+
+export function observatoryRecordedRunBinding(
+  evidenceSessionId: string,
+  lab: ObservationLabInstance,
+): ObservatoryRecordedRunBinding | null {
+  const capability = lab.replayCapability;
+  if (!capability) return null;
+  if (capability.kind === "portable-result-review") {
+    if (
+      evidenceSessionId !== lab.resultId
+      || lab.sourceSessionId === evidenceSessionId
+      || lab.configSha256 === null
+      || !/^[a-f0-9]{64}$/.test(lab.configSha256)
+      || capability.viewerProfile !== "portable-result"
+      || capability.timeline !== "result-defined"
+      || capability.activation !== "explicit"
+      || capability.commandsEnabled !== false
+    ) {
+      throw new ObservatoryRecordedRunContractError(
+        `Portable-результат ${lab.resultId} не допущен к универсальному viewer.`,
+      );
+    }
+    try {
+      decodePortableLabReplayCapabilityProvenance(
+        lab.provenance,
+        evidenceSessionId,
+        lab.resultId,
+        lab.sourceSessionId,
+        lab.configSha256,
+      );
+    } catch (error) {
+      if (!(error instanceof ObservationLabReplayCapabilityContractError)) throw error;
+      throw new ObservatoryRecordedRunContractError(error.message);
+    }
+    return {
+      kind: "portable-result-review",
+      evidenceSessionId,
+      sourceSessionId: lab.sourceSessionId,
+      resultId: lab.resultId,
+      viewerProfile: "portable-result",
+      timeline: "result-defined",
+      activation: "explicit",
+      definitionSha256: lab.configSha256,
+    };
+  }
+  try {
+    decodeCanonicalLabReplayCapabilityProvenance(
+      lab.provenance,
+      evidenceSessionId,
+      lab.resultId,
+    );
+  } catch (error) {
+    if (!(error instanceof ObservationLabReplayCapabilityContractError)) throw error;
+    throw new ObservatoryRecordedRunContractError(error.message);
+  }
+  if (
+    evidenceSessionId !== lab.resultId
+    || lab.sourceSessionId !== CANONICAL_SOURCE_SESSION_ID
+    || lab.labId !== "LAB V1"
+    || lab.resultKind !== "recorded-perception-qualification"
+    || !CANONICAL_RESULT_ID.test(lab.resultId)
+    || lab.configSha256 !== null
+    || lab.sourceResultId === null
+    || !CANONICAL_RESULT_ID.test(lab.sourceResultId)
+    || capability.kind !== "canonical-recorded-rerun"
+    || capability.viewerProfile !== "recorded-session"
+    || capability.timeline !== "session_time"
+    || capability.activation !== "explicit"
+    || capability.commandsEnabled !== false
+  ) {
+    throw new ObservatoryRecordedRunContractError(
+      `LAB-результат ${lab.resultId} не допущен к каноническому recorded replay.`,
+    );
+  }
+  return {
+    kind: "canonical-recorded-rerun",
+    evidenceSessionId,
+    sourceSessionId: lab.sourceSessionId,
+    resultId: lab.resultId,
+    viewerProfile: "recorded-session",
+    timeline: "session_time",
+    activation: "explicit",
+  };
+}
+
+export async function fetchObservatoryRecordedRunReview(
+  binding: ObservatoryRecordedRunBinding,
+  {
+    selectedSourceSessionId,
+    fetcher = fetch,
+    signal,
+  }: {
+    selectedSourceSessionId: string;
+    fetcher?: LaboratoryFetch;
+    signal?: AbortSignal;
+  },
+): Promise<ObservatoryRecordedRunReview> {
+  if (binding.sourceSessionId !== selectedSourceSessionId) {
+    throw new ObservatoryRecordedRunContractError(
+      "Запуск не связан с выбранной исходной сессией.",
+    );
+  }
+  if (binding.kind === "portable-result-review") {
+    return fetchPortableResultReview(binding, { fetcher, signal });
+  }
+  const result = await fetchVegetationShadowResultMetadata(binding.resultId, {
+    fetcher,
+    signal,
+  });
+  return {
+    kind: "canonical-recorded-rerun",
+    review: admitObservatoryRecordedRunReview(
+      binding,
+      selectedSourceSessionId,
+      result,
+    ),
+  };
+}
+
+export function admitObservatoryRecordedRunReview(
+  binding: ObservatoryCanonicalRecordedRunBinding,
+  selectedSourceSessionId: string,
+  result: VegetationShadowResult,
+): VegetationFullRouteReview {
+  if (binding.sourceSessionId !== selectedSourceSessionId) {
+    throw new ObservatoryRecordedRunContractError(
+      "Запуск не связан с выбранной исходной сессией.",
+    );
+  }
+  if (result.resultId !== binding.resultId) {
+    throw new ObservatoryRecordedRunContractError(
+      "Запечатанный результат не совпадает с выбранным запуском.",
+    );
+  }
+  const review = result.routeFullReview;
+  if (!review || review.sessionId !== binding.sourceSessionId) {
+    throw new ObservatoryRecordedRunContractError(
+      "Запечатанный результат потерял точную связь с исходной сессией.",
+    );
+  }
+  return review;
+}
+
+async function fetchPortableResultReview(
+  binding: ObservatoryPortableResultBinding,
+  {
+    fetcher,
+    signal,
+  }: {
+    fetcher: LaboratoryFetch;
+    signal?: AbortSignal;
+  },
+): Promise<ObservatoryPortableResultReview> {
+  const response = await fetcher(
+    `/api/v1/observatory/portable-results/${encodeURIComponent(binding.resultId)}`,
+    { headers: { Accept: "application/json" }, signal },
+  );
+  let body: unknown;
+  try {
+    body = await response.json();
+  } catch {
+    throw new ObservatoryRecordedRunContractError(
+      "Portable viewer получил некорректный ответ сервера.",
+    );
+  }
+  if (!response.ok) {
+    throw new ObservatoryRecordedRunContractError(
+      isRecord(body) && typeof body.detail === "string"
+        ? body.detail
+        : `Portable viewer вернул HTTP ${response.status}.`,
+    );
+  }
+  return decodePortableResultReview(body, binding);
+}
+
+function decodePortableResultReview(
+  value: unknown,
+  binding: ObservatoryPortableResultBinding,
+): ObservatoryPortableResultReview {
+  if (!isRecord(value)) {
+    throw new ObservatoryRecordedRunContractError("Portable viewer вернул не объект.");
+  }
+  const expected = new Set([
+    "schema_version",
+    "result_id",
+    "source_session_id",
+    "result_kind",
+    "definition_sha256",
+    "viewer_capability",
+    "calculation_profile",
+    "artifact_manifest_id",
+    "artifacts",
+    "result_document",
+  ]);
+  if (Object.keys(value).some((key) => !expected.has(key)) || Object.keys(value).length !== expected.size) {
+    throw new ObservatoryRecordedRunContractError("Portable viewer изменил контракт ответа.");
+  }
+  let viewerCapability;
+  try {
+    viewerCapability = decodeLabReplayCapability(
+      value.viewer_capability,
+      binding.evidenceSessionId,
+    );
+  } catch (error) {
+    if (!(error instanceof ObservationLabReplayCapabilityContractError)) throw error;
+    throw new ObservatoryRecordedRunContractError(error.message);
+  }
+  if (
+    value.schema_version !== "missioncore.observatory-portable-result-view/v1"
+    || value.result_id !== binding.resultId
+    || value.source_session_id !== binding.sourceSessionId
+    || value.definition_sha256 !== binding.definitionSha256
+    || typeof value.result_kind !== "string"
+    || typeof value.artifact_manifest_id !== "string"
+    || !/^[a-f0-9]{64}$/.test(value.artifact_manifest_id)
+    || !Array.isArray(value.artifacts)
+    || !isRecord(value.result_document)
+    || !isRecord(value.calculation_profile)
+    || viewerCapability === null
+    || viewerCapability.kind !== "portable-result-review"
+    || viewerCapability.viewerProfile !== binding.viewerProfile
+    || viewerCapability.timeline !== binding.timeline
+  ) {
+    throw new ObservatoryRecordedRunContractError("Portable viewer потерял identity результата.");
+  }
+  const artifacts = value.artifacts.map((item) => {
+    if (
+      !isRecord(item)
+      || Object.keys(item).length !== 4
+      || !["role", "media_type", "sha256", "byte_length"].every(
+        (key) => Object.prototype.hasOwnProperty.call(item, key),
+      )
+      || typeof item.role !== "string"
+      || typeof item.media_type !== "string"
+      || typeof item.sha256 !== "string"
+      || !/^[a-f0-9]{64}$/.test(item.sha256)
+      || typeof item.byte_length !== "number"
+      || !Number.isSafeInteger(item.byte_length)
+      || item.byte_length < 0
+    ) {
+      throw new ObservatoryRecordedRunContractError("Portable viewer получил неверный artifact.");
+    }
+    return {
+      role: item.role,
+      mediaType: item.media_type,
+      sha256: item.sha256,
+      byteLength: item.byte_length,
+    };
+  });
+  return {
+    kind: "portable-result",
+    resultId: binding.resultId,
+    sourceSessionId: binding.sourceSessionId,
+    resultKind: value.result_kind,
+    definitionSha256: binding.definitionSha256,
+    calculationProfile: value.calculation_profile,
+    artifactManifestId: value.artifact_manifest_id,
+    artifacts,
+    resultDocument: value.result_document,
+  };
+}
+
+function isRecord(value: unknown): value is Record<string, unknown> {
+  return value !== null && typeof value === "object" && !Array.isArray(value);
+}

apps/control-station/src/core/observatory/useAICompositionJobs.ts

@@ -0,0 +1,98 @@
+import { useCallback, useEffect, useState } from "react";
+
+import {
+  AI_MODULE_SETUP_IDS,
+  fetchAIModuleCatalog,
+  fetchAICompositionJobs,
+  fetchAICompositionRuns,
+  type AICompositionRun,
+} from "./aiComposition";
+import { fetchRecordedProgress, type RecordedProgressView } from "./recordedProgress";
+import type { ObservatoryRecordedJob } from "./recordedJobs";
+
+const OPEN = new Set(["accepted", "queued", "claimed", "running", "paused",
+  "preemption-pending", "reconciliation-required"]);
+
+interface Snapshot {
+  readonly sourceSessionId: string;
+  readonly jobs: readonly ObservatoryRecordedJob[];
+  readonly runs: readonly AICompositionRun[];
+  readonly moduleLabelsBySetup: Readonly<Record<string, string>>;
+  readonly progress: Readonly<Record<string, RecordedProgressView>>;
+  readonly error: string | null;
+}
+
+export function useAICompositionJobs(sourceSessionId: string) {
+  const [revision, setRevision] = useState(0);
+  const [snapshot, setSnapshot] = useState<Snapshot>({
+    sourceSessionId: "", jobs: [], runs: [], moduleLabelsBySetup: {}, progress: {}, error: null,
+  });
+  const current = snapshot.sourceSessionId === sourceSessionId ? snapshot : {
+    sourceSessionId, jobs: [], runs: [], moduleLabelsBySetup: {}, progress: {}, error: null,
+  };
+
+  useEffect(() => {
+    if (!sourceSessionId) {
+      setSnapshot({ sourceSessionId, jobs: [], runs: [], moduleLabelsBySetup: {}, progress: {}, error: null });
+      return;
+    }
+    const request = new AbortController();
+    void Promise.all([
+      fetchAICompositionJobs(sourceSessionId, request.signal),
+      fetchAICompositionRuns(sourceSessionId, request.signal),
+      fetchAIModuleCatalog(request.signal),
+    ]).then(async ([jobs, runs, catalog]) => {
+      const active = jobs.filter((job) => OPEN.has(job.state));
+      const samples = await Promise.all(active.map(async (job) => [
+        job.jobId, await fetchRecordedProgress(job, { signal: request.signal }).catch(() => null),
+      ] as const));
+      if (request.signal.aborted) return;
+      const catalogLabels = catalog.groups.flatMap(({ modules }) => (
+        modules.flatMap((module) => {
+          const setupId = AI_MODULE_SETUP_IDS[module.moduleId];
+          return setupId ? [[setupId, module.label] as const] : [];
+        })
+      ));
+      const projectedLabels = runs.flatMap((run) => run.presentation.modules.flatMap((module) => {
+        const setupId = AI_MODULE_SETUP_IDS[module.moduleId];
+        return setupId ? [[setupId, module.label] as const] : [];
+      }));
+      setSnapshot({
+        sourceSessionId, jobs, runs,
+        moduleLabelsBySetup: Object.fromEntries([...catalogLabels, ...projectedLabels]),
+        progress: Object.fromEntries(samples.filter(
+          (sample): sample is readonly [string, RecordedProgressView] => sample[1] !== null,
+        )),
+        error: null,
+      });
+    }).catch((error: unknown) => {
+      if (request.signal.aborted) return;
+      setSnapshot((value) => ({
+        sourceSessionId, jobs: value.sourceSessionId === sourceSessionId ? value.jobs : [],
+        runs: value.sourceSessionId === sourceSessionId ? value.runs : [],
+        moduleLabelsBySetup: value.sourceSessionId === sourceSessionId
+          ? value.moduleLabelsBySetup : {},
+        progress: value.sourceSessionId === sourceSessionId ? value.progress : {},
+        error: error instanceof Error ? error.message : "Очередь AI-слоёв недоступна.",
+      }));
+    });
+    return () => request.abort();
+  }, [revision, sourceSessionId]);
+
+  const active = current.runs.some((run) => run.state === "running")
+    || current.jobs.some((job) => OPEN.has(job.state) || job.publication.state === "pending");
+  useEffect(() => {
+    if (!active) return;
+    const timer = globalThis.setTimeout(() => setRevision((value) => value + 1), 1_500);
+    return () => globalThis.clearTimeout(timer);
+  }, [active, revision]);
+
+  return {
+    jobs: current.jobs,
+    runs: current.runs,
+    moduleLabelsBySetup: current.moduleLabelsBySetup,
+    progress: current.progress,
+    error: current.error,
+    refresh: useCallback(() => setRevision((value) => value + 1), []),
+  };
+}

apps/control-station/src/core/observatory/useObservatoryCatalog.ts

@@ -0,0 +1,148 @@
+import { useCallback, useEffect, useRef, useState } from "react";
+
+import {
+  applyObservatoryCatalogMutationOverlay,
+  fetchObservatoryCatalog,
+  reconcileObservatoryCatalogMutationOverlay,
+  type ObservatoryCatalog,
+  type ObservatoryCatalogMutationOverlay,
+} from "./catalog";
+
+export type ObservatoryCatalogState =
+  | "idle"
+  | "loading"
+  | "ready"
+  | "refreshing"
+  | "error";
+
+export interface ObservatoryCatalogController {
+  readonly catalog: ObservatoryCatalog | null;
+  readonly state: ObservatoryCatalogState;
+  readonly error: string | null;
+  readonly refresh: () => Promise<ObservatoryCatalog | null>;
+  readonly applyEvidenceRename: (
+    sessionId: string,
+    displayName: string,
+  ) => void;
+  readonly applyEvidenceDeletion: (sessionId: string) => void;
+}
+
+interface ActiveCatalogRequest {
+  readonly id: number;
+  readonly controller: AbortController;
+}
+
+type ObservatoryCatalogMutationDraft =
+  | { readonly kind: "rename"; readonly displayName: string }
+  | { readonly kind: "delete" };
+
+function errorMessage(error: unknown): string {
+  return error instanceof Error && error.message.trim()
+    ? error.message
+    : "Каталог AI Inference недоступен.";
+}
+
+function isAbortError(error: unknown): boolean {
+  return error instanceof DOMException && error.name === "AbortError";
+}
+
+export function useObservatoryCatalog(): ObservatoryCatalogController {
+  const [catalog, setCatalog] = useState<ObservatoryCatalog | null>(null);
+  const [state, setState] = useState<ObservatoryCatalogState>("idle");
+  const [error, setError] = useState<string | null>(null);
+  const catalogRef = useRef<ObservatoryCatalog | null>(null);
+  const overlayRef = useRef<ObservatoryCatalogMutationOverlay>(new Map());
+  const mutationRevisionRef = useRef(0);
+  const requestSequenceRef = useRef(0);
+  const activeRequestRef = useRef<ActiveCatalogRequest | null>(null);
+
+  const loadCatalog = useCallback(async (): Promise<ObservatoryCatalog | null> => {
+    const id = requestSequenceRef.current + 1;
+    requestSequenceRef.current = id;
+    activeRequestRef.current?.controller.abort();
+    const controller = new AbortController();
+    activeRequestRef.current = { id, controller };
+    const requestMutationRevision = mutationRevisionRef.current;
+
+    setState(catalogRef.current ? "refreshing" : "loading");
+    setError(null);
+    try {
+      const serverCatalog = await fetchObservatoryCatalog({
+        signal: controller.signal,
+      });
+      if (controller.signal.aborted || requestSequenceRef.current !== id) {
+        return null;
+      }
+      const reconciled = reconcileObservatoryCatalogMutationOverlay(
+        serverCatalog,
+        overlayRef.current,
+        requestMutationRevision,
+      );
+      overlayRef.current = reconciled.overlay;
+      catalogRef.current = reconciled.catalog;
+      activeRequestRef.current = null;
+      setCatalog(reconciled.catalog);
+      setState("ready");
+      return reconciled.catalog;
+    } catch (loadError: unknown) {
+      if (
+        controller.signal.aborted
+        || requestSequenceRef.current !== id
+        || isAbortError(loadError)
+      ) {
+        return null;
+      }
+      activeRequestRef.current = null;
+      setError(errorMessage(loadError));
+      setState("error");
+      return null;
+    }
+  }, []);
+
+  useEffect(() => {
+    void loadCatalog();
+    return () => {
+      requestSequenceRef.current += 1;
+      activeRequestRef.current?.controller.abort();
+      activeRequestRef.current = null;
+    };
+  }, [loadCatalog]);
+
+  const applyMutation = useCallback((
+    sessionId: string,
+    mutation: ObservatoryCatalogMutationDraft,
+  ) => {
+    const revision = mutationRevisionRef.current + 1;
+    mutationRevisionRef.current = revision;
+    const overlay = new Map(overlayRef.current);
+    overlay.set(sessionId, { ...mutation, revision });
+    overlayRef.current = overlay;
+    if (!catalogRef.current) return;
+    const projected = applyObservatoryCatalogMutationOverlay(
+      catalogRef.current,
+      overlay,
+    );
+    catalogRef.current = projected;
+    setCatalog(projected);
+  }, []);
+
+  const applyEvidenceRename = useCallback((
+    sessionId: string,
+    displayName: string,
+  ) => {
+    applyMutation(sessionId, { kind: "rename", displayName });
+  }, [applyMutation]);
+
+  const applyEvidenceDeletion = useCallback((sessionId: string) => {
+    applyMutation(sessionId, { kind: "delete" });
+  }, [applyMutation]);
+
+  return {
+    catalog,
+    state,
+    error,
+    refresh: loadCatalog,
+    applyEvidenceRename,
+    applyEvidenceDeletion,
+  };
+}

apps/control-station/src/core/observatory/useObservatoryLaboratorySetups.ts

@@ -0,0 +1,132 @@
+import { useCallback, useEffect, useMemo, useRef, useState } from "react";
+
+import {
+  fetchObservatoryPortableLaboratorySetups,
+  preflightObservatoryLaboratorySetup,
+  selectableObservatorySetups,
+  type ObservatoryLaboratoryRunPreflight,
+  type ObservatoryLaboratorySetupCatalog,
+} from "./laboratorySetups";
+
+type SetupCatalogState = "idle" | "loading" | "ready" | "refreshing" | "error";
+export type SetupPreflightState =
+  | { readonly kind: "idle" }
+  | { readonly kind: "checking" }
+  | { readonly kind: "ready"; readonly value: ObservatoryLaboratoryRunPreflight }
+  | { readonly kind: "error"; readonly message: string };
+
+export function useObservatoryLaboratorySetups(sourceSessionId: string) {
+  const [catalog, setCatalog] = useState<ObservatoryLaboratorySetupCatalog | null>(null);
+  const [state, setState] = useState<SetupCatalogState>("idle");
+  const [error, setError] = useState<string | null>(null);
+  const [selectedSetupId, setSelectedSetupId] = useState("");
+  const [revision, setRevision] = useState(0);
+  const [preflight, setPreflight] = useState<SetupPreflightState>({ kind: "idle" });
+  const requestSequence = useRef(0);
+  const preflightRequest = useRef<AbortController | null>(null);
+  const activeCatalog = catalog?.sourceSessionId === sourceSessionId ? catalog : null;
+  const selectableSetups = useMemo(() => selectableObservatorySetups(activeCatalog), [activeCatalog]);
+  const selectedSetup = selectableSetups.find((setup) => setup.setupId === selectedSetupId) ?? null;
+  const selectedDefinitionSha256 = selectedSetup?.runDefinition?.definitionSha256 ?? null;
+
+  useEffect(() => {
+    preflightRequest.current?.abort();
+    preflightRequest.current = null;
+    if (!sourceSessionId) {
+      setCatalog(null);
+      setState("idle");
+      setError(null);
+      setSelectedSetupId("");
+      setPreflight({ kind: "idle" });
+      return;
+    }
+    const sequence = ++requestSequence.current;
+    const request = new AbortController();
+    setState((current) => activeCatalog && current !== "idle" ? "refreshing" : "loading");
+    setError(null);
+    setPreflight({ kind: "idle" });
+    // Archived definitions belong to evidence, not to the calculation selector.
+    void fetchObservatoryPortableLaboratorySetups(sourceSessionId, { signal: request.signal })
+      .then((next) => {
+        if (request.signal.aborted || requestSequence.current !== sequence) return;
+        setCatalog(next);
+        const selectable = selectableObservatorySetups(next);
+        setSelectedSetupId((current) => (
+          selectable.some((setup) => setup.setupId === current)
+            ? current
+            : selectable[0]?.setupId ?? ""
+        ));
+        setState("ready");
+      })
+      .catch((caught: unknown) => {
+        if (request.signal.aborted || requestSequence.current !== sequence) return;
+        setState("error");
+        setError(caught instanceof Error && caught.message.trim()
+          ? caught.message
+          : "Каталог профилей недоступен.");
+      });
+    return () => request.abort();
+  }, [revision, sourceSessionId]);
+
+  useEffect(() => () => preflightRequest.current?.abort(), []);
+
+  useEffect(() => {
+    preflightRequest.current?.abort();
+    preflightRequest.current = null;
+    setPreflight((current) => current.kind === "idle" ? current : { kind: "idle" });
+  }, [selectedSetupId, sourceSessionId, selectedDefinitionSha256]);
+
+  const selectSetup = useCallback((setupId: string) => {
+    preflightRequest.current?.abort();
+    preflightRequest.current = null;
+    setSelectedSetupId(setupId);
+    setPreflight({ kind: "idle" });
+  }, []);
+
+  const refresh = useCallback(() => setRevision((value) => value + 1), []);
+
+  const check = useCallback(async () => {
+    if (!sourceSessionId || !selectedSetup || preflight.kind === "checking") return;
+    preflightRequest.current?.abort();
+    const request = new AbortController();
+    preflightRequest.current = request;
+    setPreflight({ kind: "checking" });
+    try {
+      const value = await preflightObservatoryLaboratorySetup(
+        sourceSessionId,
+        selectedSetup,
+        { signal: request.signal },
+      );
+      if (request.signal.aborted || preflightRequest.current !== request) return;
+      setPreflight({ kind: "ready", value });
+    } catch (caught) {
+      if (request.signal.aborted || preflightRequest.current !== request) return;
+      setPreflight({
+        kind: "error",
+        message: caught instanceof Error && caught.message.trim()
+          ? caught.message
+          : "Не удалось проверить возможность запуска.",
+      });
+    } finally {
+      if (preflightRequest.current === request) preflightRequest.current = null;
+    }
+  }, [preflight.kind, selectedSetup, sourceSessionId]);
+
+  useEffect(() => {
+    if (state !== "ready" || !selectedSetup || preflight.kind !== "idle") return;
+    void check();
+  }, [check, preflight.kind, selectedSetup, state]);
+
+  return {
+    catalog: activeCatalog,
+    selectableSetups,
+    state,
+    error,
+    selectedSetupId: selectedSetup?.setupId ?? "",
+    selectedSetup,
+    selectSetup,
+    refresh,
+    preflight,
+    check,
+  };
+}

apps/control-station/src/core/observatory/useObservatoryRecordedJobs.ts

@@ -0,0 +1,207 @@
+import { useCallback, useEffect, useRef, useState } from "react";
+import { fetchRecordedProgress, type RecordedProgressView } from "./recordedProgress";
+
+import {
+  fetchObservatoryRecordedJobs,
+  retryObservatoryRecordedJobPublication,
+  submitObservatoryRecordedJob,
+  type ObservatoryRecordedJob,
+} from "./recordedJobs";
+
+type RecordedJobsState =
+  | "idle"
+  | "loading"
+  | "ready"
+  | "refreshing"
+  | "submitting"
+  | "retrying-publication"
+  | "error";
+
+interface JobSnapshot {
+  readonly selectionKey: string;
+  readonly jobs: readonly ObservatoryRecordedJob[];
+  readonly state: RecordedJobsState;
+  readonly error: string | null;
+  readonly progress?: RecordedProgressView | null;
+}
+const EMPTY_JOBS = [] as const;
+const OPEN_STATES = new Set([
+  "accepted", "queued", "claimed", "running", "paused", "preemption-pending",
+  "reconciliation-required",
+]);
+const POLL_INTERVAL_MS = 1_500;
+
+export function useObservatoryRecordedJobs(
+  sourceSessionId: string,
+  setupId: string,
+  definitionSha256: string,
+) {
+  const selectionKey = JSON.stringify([sourceSessionId, setupId, definitionSha256]);
+  const [snapshot, setSnapshot] = useState<JobSnapshot>({
+    selectionKey: "", jobs: EMPTY_JOBS, state: "idle", error: null,
+  });
+  const [revision, setRevision] = useState(0);
+  const requestRef = useRef<AbortController | null>(null);
+  const requestSequence = useRef(0);
+  const idempotencyKeys = useRef(new Map<string, string>());
+  const observedJobId = useRef<string | null>(null);
+  const hasSelection = Boolean(sourceSessionId && setupId && definitionSha256);
+  // A source/profile change must not display even one render of the previous queue.
+  const current = snapshot.selectionKey === selectionKey ? snapshot : null;
+  const jobs = current?.jobs ?? EMPTY_JOBS;
+  const state = current?.state ?? (hasSelection ? "loading" : "idle");
+  const error = current?.error ?? null;
+
+  useEffect(() => {
+    requestRef.current?.abort();
+    requestRef.current = null;
+    if (!hasSelection) {
+      setSnapshot({ selectionKey, jobs: EMPTY_JOBS, state: "idle", error: null });
+      return;
+    }
+    const sequence = ++requestSequence.current;
+    const request = new AbortController();
+    requestRef.current = request;
+    setSnapshot({
+      selectionKey, jobs,
+      state: jobs.length > 0 ? "refreshing" : "loading", error: null,
+      progress: current?.progress ?? null,
+    });
+    void fetchObservatoryRecordedJobs(sourceSessionId, setupId, {
+      definitionSha256, signal: request.signal,
+    }).then(async (next) => {
+      if (request.signal.aborted || requestSequence.current !== sequence) return;
+      const pending = next.find((job) => OPEN_STATES.has(job.state));
+      const progress = pending
+        ? await fetchRecordedProgress(pending, { signal: request.signal }).catch(() => null)
+        : null;
+      if (request.signal.aborted || requestSequence.current !== sequence) return;
+      if (pending) observedJobId.current = pending.jobId;
+      setSnapshot({ selectionKey, jobs: next, state: "ready", error: null, progress });
+    }).catch((caught: unknown) => {
+      if (request.signal.aborted || requestSequence.current !== sequence) return;
+      setSnapshot({
+        selectionKey, jobs, state: "error",
+        error: caught instanceof Error && caught.message.trim()
+          ? caught.message
+          : "Очередь расчётов недоступна.",
+      });
+    }).finally(() => {
+      if (requestRef.current === request) requestRef.current = null;
+    });
+    return () => request.abort();
+  }, [revision, selectionKey]);
+
+  useEffect(() => () => requestRef.current?.abort(), []);
+
+  const latestJob = jobs[0] ?? null;
+  const activeJob = jobs.find((job) => OPEN_STATES.has(job.state)) ?? null;
+  const publicationPending = jobs.some((job) => job.publication.state === "pending");
+  // Do not promote historical terminal logs to a new operator action's error.
+  const computationFailed = latestJob?.state === "failed"
+    && latestJob.jobId === observedJobId.current;
+
+  useEffect(() => {
+    if ((state !== "ready" && state !== "error") || (!activeJob && !publicationPending)) return;
+    const timer = globalThis.setTimeout(
+      () => setRevision((value) => value + 1),
+      POLL_INTERVAL_MS,
+    );
+    return () => globalThis.clearTimeout(timer);
+  }, [activeJob, publicationPending, revision, state]);
+
+  useEffect(() => {
+    if (!latestJob || activeJob) return;
+    idempotencyKeys.current.delete(selectionKey);
+  }, [activeJob, latestJob, selectionKey]);
+
+  const refresh = useCallback(() => setRevision((value) => value + 1), []);
+
+  const submit = useCallback(async (
+    portableBinding: {
+      readonly definitionSha256: string;
+      readonly checkSha256: string;
+    } | null = null,
+  ): Promise<ObservatoryRecordedJob | null> => {
+    if (!hasSelection || state !== "ready"
+      || portableBinding?.definitionSha256 !== definitionSha256
+      || publicationPending || latestJob?.publication.state === "failed") return null;
+    if (activeJob) return activeJob;
+    requestRef.current?.abort();
+    const request = new AbortController();
+    requestRef.current = request;
+    const key = idempotencyKeys.current.get(selectionKey) ?? createIdempotencyKey();
+    idempotencyKeys.current.set(selectionKey, key);
+    setSnapshot({ selectionKey, jobs, state: "submitting", error: null });
+    try {
+      const job = await submitObservatoryRecordedJob(
+        sourceSessionId, setupId, key, portableBinding, { signal: request.signal },
+      );
+      if (request.signal.aborted || requestRef.current !== request) return null;
+      observedJobId.current = job.jobId;
+      setSnapshot({
+        selectionKey, jobs: [job, ...jobs.filter((candidate) => candidate.jobId !== job.jobId)],
+        state: "ready", error: null,
+      });
+      return job;
+    } catch (caught) {
+      if (request.signal.aborted || requestRef.current !== request) return null;
+      setSnapshot({
+        selectionKey, jobs, state: "error",
+        error: caught instanceof Error && caught.message.trim()
+          ? caught.message
+          : "Не удалось поставить расчёт в очередь.",
+      });
+      return null;
+    } finally {
+      if (requestRef.current === request) requestRef.current = null;
+    }
+  }, [activeJob, definitionSha256, hasSelection, jobs, latestJob,
+    publicationPending, selectionKey, setupId, sourceSessionId, state]);
+
+  const retryPublication = useCallback(async (): Promise<ObservatoryRecordedJob | null> => {
+    if (!latestJob || latestJob.publication.state !== "failed"
+      || state === "retrying-publication") return null;
+    requestRef.current?.abort();
+    const request = new AbortController();
+    requestRef.current = request;
+    setSnapshot({ selectionKey, jobs, state: "retrying-publication", error: null });
+    try {
+      const job = await retryObservatoryRecordedJobPublication(latestJob.jobId, {
+        signal: request.signal,
+      });
+      if (request.signal.aborted || requestRef.current !== request) return null;
+      setSnapshot({
+        selectionKey, jobs: [job, ...jobs.filter((candidate) => candidate.jobId !== job.jobId)],
+        state: "ready", error: null,
+      });
+      return job;
+    } catch (caught) {
+      if (request.signal.aborted || requestRef.current !== request) return null;
+      setSnapshot({
+        selectionKey, jobs, state: "error",
+        error: caught instanceof Error && caught.message.trim()
+          ? caught.message
+          : "Не удалось повторить публикацию результата.",
+      });
+      return null;
+    } finally {
+      if (requestRef.current === request) requestRef.current = null;
+    }
+  }, [jobs, latestJob, selectionKey, state]);
+
+  return {
+    jobs, latestJob, activeJob, publicationPending, computationFailed,
+    progress: current?.progress ?? null,
+    state, error, refresh, submit, retryPublication,
+  };
+}
+
+function createIdempotencyKey(): string {
+  const entropy = typeof globalThis.crypto?.randomUUID === "function"
+    ? globalThis.crypto.randomUUID()
+    : `${Date.now().toString(36)}-${Math.random().toString(16).slice(2)}`;
+  return `observatory-ui:${entropy}`;
+}
+
+export type ObservatoryRecordedJobsController = ReturnType<typeof useObservatoryRecordedJobs>;

apps/control-station/src/core/simulation/projects.ts

@@ -1,6 +1,10 @@
 export type SimulationSceneType = "interior" | "outdoor" | "object";
-export type SimulationTransformAxis = "x" | "y" | "z";
 export type SimulationViewerQuality = "low" | "medium" | "high" | "ultra" | "maximum";
+export interface SimulationEulerRotation {
+  x: number;
+  y: number;
+  z: number;
+}
 export type SimulationProjectStatus =
   | "uploading"
   | "queued"
@@ -35,13 +39,38 @@ export interface SimulationWorldManifest {
 }
 
 export interface SimulationViewerSettings {
-  schemaVersion: "missioncore.simulation-viewer-settings/v1";
+  schemaVersion: "missioncore.simulation-viewer-settings/v3";
   quality: SimulationViewerQuality;
-  visual: { inverted: boolean; axis: SimulationTransformAxis };
-  collision: { inverted: boolean; axis: SimulationTransformAxis };
+  visual: { rotationDegrees: SimulationEulerRotation };
+  collision: { rotationDegrees: SimulationEulerRotation };
   camera: { invertHorizontal: boolean; invertVertical: boolean };
+  ugv: SimulationUgvPreset;
 }
 
+export interface SimulationUgvPreset {
+  presetName: string;
+  massKg: number;
+  dimensionsMeters: {
+    length: number;
+    width: number;
+    height: number;
+    groundClearance: number;
+  };
+  maxSpeedMetersPerSecond: number;
+  maxTurnRateDegrees: number;
+  invertSteering: boolean;
+}
+
+export const SIMULATION_UGV_EXACT_VALUE_LIMITS = {
+  massKg: { min: 0.01, max: 1_000_000_000 },
+  length: { min: 0.01, max: 1_000_000_000 },
+  width: { min: 0.01, max: 1_000_000_000 },
+  height: { min: 0.07, max: 1_000_000_000 },
+  groundClearance: { min: 0.01, max: 1_000_000_000 },
+  maxSpeedMetersPerSecond: { min: 0, max: 1_000_000_000 },
+  maxTurnRateDegrees: { min: 0, max: 1_000_000_000 },
+} as const;
+
 export interface SimulationProject {
   schemaVersion: "missioncore.simulation-project/v1";
   projectId: string;
@@ -58,7 +87,9 @@ export interface SimulationProject {
   provider: {
     providerId: "gaussian-pipeline";
     jobId: string | null;
+    jobCreatedAtUtc: string | null;
     state: string | null;
+    stateStartedAtUtc: string | null;
     progress: { completed_steps?: number; total_steps?: number; stage?: string } | null;
     runtime: { source_revision?: string; image_digest?: string } | null;
   };
@@ -85,11 +116,60 @@ export interface SimulationUploadProgress {
   uploadedBytes: number;
   totalBytes: number;
   currentPath: string;
+  bytesPerSecond: number | null;
+  estimatedSecondsRemaining: number | null;
 }
 
 const API_ROOT = "/api/v1/simulation-worlds/projects";
 const CHUNK_BYTES = 8 * 1024 * 1024;
 const MAX_UPLOAD_ATTEMPTS = 3;
+const REFERENCE_SOURCE_BYTES = 4_100_808_854;
+const REFERENCE_PREPARATION_SECONDS = 187;
+const REFERENCE_STREAM_SECONDS = 2_317;
+
+export interface SimulationProcessingEstimate {
+  percent: number;
+  estimatedSecondsRemaining: number | null;
+}
+
+export function estimateSimulationProcessing(
+  project: SimulationProject,
+  nowMilliseconds = Date.now(),
+): SimulationProcessingEstimate | null {
+  if (project.status !== "processing") return null;
+  const jobStarted = Date.parse(project.provider.jobCreatedAtUtc ?? "");
+  if (!Number.isFinite(jobStarted)) return null;
+  const elapsedSeconds = Math.max(0, (nowMilliseconds - jobStarted) / 1_000);
+  const sourceScale = clamp(
+    project.source.totalByteLength / REFERENCE_SOURCE_BYTES,
+    0.1,
+    4,
+  );
+  let expectedSeconds = (
+    REFERENCE_PREPARATION_SECONDS + REFERENCE_STREAM_SECONDS
+  ) * sourceScale;
+  if (project.provider.state === "building_streamed_sog") {
+    const streamedStarted = Date.parse(project.provider.stateStartedAtUtc ?? "");
+    if (Number.isFinite(streamedStarted) && streamedStarted >= jobStarted) {
+      const preparationSeconds = Math.max(1, (streamedStarted - jobStarted) / 1_000);
+      const observedLoad = clamp(
+        preparationSeconds / (REFERENCE_PREPARATION_SECONDS * sourceScale),
+        0.5,
+        2,
+      );
+      expectedSeconds = preparationSeconds
+        + REFERENCE_STREAM_SECONDS * sourceScale * observedLoad;
+    }
+  }
+  const rawPercent = expectedSeconds > 0 ? elapsedSeconds / expectedSeconds * 100 : 0;
+  if (rawPercent >= 100) {
+    return { percent: 99, estimatedSecondsRemaining: null };
+  }
+  return {
+    percent: Math.max(1, Math.floor(rawPercent)),
+    estimatedSecondsRemaining: Math.max(0, Math.ceil(expectedSeconds - elapsedSeconds)),
+  };
+}
 
 export async function fetchSimulationProjects(signal?: AbortSignal): Promise<SimulationProject[]> {
   const response = await fetch(API_ROOT, { signal, cache: "no-store" });
@@ -107,6 +187,15 @@ export async function createAndUploadSimulationProject(
   sceneType: SimulationSceneType,
   candidates: SimulationUploadCandidate[],
   onProgress: (progress: SimulationUploadProgress) => void,
+): Promise<SimulationProject> {
+  const project = await createSimulationProject(name, sceneType, candidates);
+  return uploadSimulationProjectSource(project, candidates, onProgress);
+}
+
+export async function createSimulationProject(
+  name: string,
+  sceneType: SimulationSceneType,
+  candidates: SimulationUploadCandidate[],
 ): Promise<SimulationProject> {
   const sourceKind = sourceKindFor(candidates);
   const createdResponse = await fetch(API_ROOT, {
@@ -123,36 +212,85 @@ export async function createAndUploadSimulationProject(
       })),
     }),
   });
-  let project = parseProject(await jsonResponse(createdResponse));
+  return parseProject(await jsonResponse(createdResponse));
+}
+
+export async function uploadSimulationProjectSource(
+  project: SimulationProject,
+  candidates: SimulationUploadCandidate[],
+  onProgress: (progress: SimulationUploadProgress) => void,
+  signal?: AbortSignal,
+): Promise<SimulationProject> {
   const byPath = new Map(candidates.map((candidate) => [candidate.logicalPath, candidate.file]));
   const totalBytes = candidates.reduce((total, candidate) => total + candidate.file.size, 0);
   let confirmedBytes = 0;
+  let sampleBytes = 0;
+  let sampleAt = performance.now();
+  let smoothedBytesPerSecond: number | null = null;
+  const reportProgress = (currentPath: string) => {
+    const remainingBytes = Math.max(0, totalBytes - confirmedBytes);
+    onProgress({
+      uploadedBytes: confirmedBytes,
+      totalBytes,
+      currentPath,
+      bytesPerSecond: smoothedBytesPerSecond,
+      estimatedSecondsRemaining: smoothedBytesPerSecond && remainingBytes > 0
+        ? Math.ceil(remainingBytes / smoothedBytesPerSecond)
+        : remainingBytes === 0 ? 0 : null,
+    });
+  };
   for (const sourceFile of project.source.files) {
+    signal?.throwIfAborted();
     const file = byPath.get(sourceFile.logicalPath);
     if (!file) throw new Error(`Сервер изменил состав источника: ${sourceFile.logicalPath}`);
     const uploadUrl = `${API_ROOT}/${encodeURIComponent(project.projectId)}/source/${encodeURIComponent(sourceFile.fileId)}`;
-    let offset = await readUploadOffset(uploadUrl, file.size);
+    let offset = await readUploadOffset(uploadUrl, file.size, signal);
     confirmedBytes += offset;
-    onProgress({ uploadedBytes: confirmedBytes, totalBytes, currentPath: sourceFile.logicalPath });
+    sampleBytes = confirmedBytes;
+    sampleAt = performance.now();
+    reportProgress(sourceFile.logicalPath);
     while (offset < file.size) {
+      signal?.throwIfAborted();
       const nextOffset = Math.min(file.size, offset + CHUNK_BYTES);
-      const confirmedOffset = await uploadChunk(uploadUrl, file, offset, nextOffset);
+      const confirmedOffset = await uploadChunk(uploadUrl, file, offset, nextOffset, signal);
       confirmedBytes += confirmedOffset - offset;
       offset = confirmedOffset;
-      onProgress({ uploadedBytes: confirmedBytes, totalBytes, currentPath: sourceFile.logicalPath });
+      const now = performance.now();
+      const elapsedSeconds = (now - sampleAt) / 1_000;
+      const transferredBytes = confirmedBytes - sampleBytes;
+      if (elapsedSeconds > 0 && transferredBytes > 0) {
+        const currentBytesPerSecond = transferredBytes / elapsedSeconds;
+        smoothedBytesPerSecond = smoothedBytesPerSecond === null
+          ? currentBytesPerSecond
+          : smoothedBytesPerSecond * 0.7 + currentBytesPerSecond * 0.3;
+      }
+      sampleBytes = confirmedBytes;
+      sampleAt = now;
+      reportProgress(sourceFile.logicalPath);
     }
   }
-  const buildResponse = await fetch(`${API_ROOT}/${encodeURIComponent(project.projectId)}/build`, {
+  return startSimulationProjectBuild(project.projectId, signal);
+}
+
+export async function startSimulationProjectBuild(
+  projectId: string,
+  signal?: AbortSignal,
+): Promise<SimulationProject> {
+  const buildResponse = await fetch(`${API_ROOT}/${encodeURIComponent(projectId)}/build`, {
     method: "POST",
     headers: { "Content-Type": "application/json" },
     body: "{}",
+    signal,
   });
-  project = parseProject(await jsonResponse(buildResponse));
-  return project;
+  return parseProject(await jsonResponse(buildResponse));
 }
 
-async function readUploadOffset(uploadUrl: string, fileSize: number): Promise<number> {
-  const head = await fetch(uploadUrl, { method: "HEAD", cache: "no-store" });
+async function readUploadOffset(
+  uploadUrl: string,
+  fileSize: number,
+  signal?: AbortSignal,
+): Promise<number> {
+  const head = await fetch(uploadUrl, { method: "HEAD", cache: "no-store", signal });
   if (!head.ok) await jsonResponse(head);
   const value = head.headers.get("Upload-Offset");
   if (!value || !/^\d+$/.test(value)) {
@@ -170,11 +308,13 @@ async function uploadChunk(
   file: File,
   offset: number,
   nextOffset: number,
+  signal?: AbortSignal,
 ): Promise<number> {
   let lastFailure: unknown = null;
   for (let attempt = 1; attempt <= MAX_UPLOAD_ATTEMPTS; attempt += 1) {
     let response: Response | null = null;
     try {
+      signal?.throwIfAborted();
       response = await fetch(uploadUrl, {
         method: "PATCH",
         headers: {
@@ -182,8 +322,10 @@ async function uploadChunk(
           "Upload-Offset": String(offset),
         },
         body: file.slice(offset, nextOffset),
+        signal,
       });
     } catch (caught) {
+      if (signal?.aborted) throw caught;
       lastFailure = caught;
     }
     if (response?.ok) {
@@ -203,7 +345,7 @@ async function uploadChunk(
       lastFailure = new Error(`Mission Core временно вернул HTTP ${response.status}.`);
     }
     try {
-      const confirmed = await readUploadOffset(uploadUrl, file.size);
+      const confirmed = await readUploadOffset(uploadUrl, file.size, signal);
       if (confirmed === nextOffset) return confirmed;
       if (confirmed !== offset) {
         throw new Error("Сервер подтвердил неожиданное смещение загрузки.");
@@ -246,26 +388,32 @@ export async function saveSimulationViewerSettings(
       body: JSON.stringify({
         schema_version: settings.schemaVersion,
         quality: settings.quality,
-        visual: settings.visual,
-        collision: settings.collision,
+        visual: { rotation_degrees: settings.visual.rotationDegrees },
+        collision: { rotation_degrees: settings.collision.rotationDegrees },
         camera: {
           invert_horizontal: settings.camera.invertHorizontal,
           invert_vertical: settings.camera.invertVertical,
         },
+        ugv: {
+          preset_name: settings.ugv.presetName,
+          mass_kg: settings.ugv.massKg,
+          dimensions_m: {
+            length: settings.ugv.dimensionsMeters.length,
+            width: settings.ugv.dimensionsMeters.width,
+            height: settings.ugv.dimensionsMeters.height,
+            ground_clearance: settings.ugv.dimensionsMeters.groundClearance,
+          },
+          max_speed_mps: settings.ugv.maxSpeedMetersPerSecond,
+          max_turn_rate_degrees: settings.ugv.maxTurnRateDegrees,
+          invert_steering: settings.ugv.invertSteering,
+        },
       }),
     },
   );
   return parseProject(await jsonResponse(response));
 }
 
-export async function retrySimulationProject(projectId: string): Promise<SimulationProject> {
-  const response = await fetch(`${API_ROOT}/${encodeURIComponent(projectId)}/build`, {
-    method: "POST",
-    headers: { "Content-Type": "application/json" },
-    body: "{}",
-  });
-  return parseProject(await jsonResponse(response));
-}
+export const retrySimulationProject = startSimulationProjectBuild;
 
 export async function deleteSimulationProject(projectId: string): Promise<void> {
   const response = await fetch(`${API_ROOT}/${encodeURIComponent(projectId)}`, { method: "DELETE" });
@@ -321,7 +469,9 @@ function parseProject(value: unknown): SimulationProject {
     provider: {
       providerId: provider.provider_id === "gaussian-pipeline" ? "gaussian-pipeline" : invalid("provider id"),
       jobId: nullableString(provider.job_id, "provider job id"),
+      jobCreatedAtUtc: nullableString(provider.job_created_at_utc ?? null, "provider job creation"),
       state: nullableString(provider.state, "provider state"),
+      stateStartedAtUtc: nullableString(provider.state_started_at_utc ?? null, "provider state start"),
       progress: provider.progress === null ? null : objectValue(provider.progress, "provider progress"),
       runtime: provider.runtime === null ? null : objectValue(provider.runtime, "provider runtime"),
     },
@@ -345,16 +495,17 @@ function parseProject(value: unknown): SimulationProject {
 
 function parseViewerSettings(value: unknown): SimulationViewerSettings {
   const record = objectValue(value, "viewer settings");
-  exactKeys(record, ["schema_version", "quality", "visual", "collision", "camera"], "viewer settings");
-  if (record.schema_version !== "missioncore.simulation-viewer-settings/v1") {
+  exactKeys(record, ["schema_version", "quality", "visual", "collision", "camera", "ugv"], "viewer settings");
+  if (record.schema_version !== "missioncore.simulation-viewer-settings/v3") {
     throw new Error("Настройки сцены вернули неподдерживаемую версию.");
   }
   const visual = parseLayerViewerSettings(record.visual, "visual settings");
   const collision = parseLayerViewerSettings(record.collision, "collision settings");
   const camera = objectValue(record.camera, "camera settings");
   exactKeys(camera, ["invert_horizontal", "invert_vertical"], "camera settings");
+  const ugv = parseUgvPreset(record.ugv);
   return {
-    schemaVersion: "missioncore.simulation-viewer-settings/v1",
+    schemaVersion: "missioncore.simulation-viewer-settings/v3",
     quality: qualityValue(record.quality),
     visual,
     collision,
@@ -362,18 +513,88 @@ function parseViewerSettings(value: unknown): SimulationViewerSettings {
       invertHorizontal: booleanValue(camera.invert_horizontal, "horizontal camera inversion"),
       invertVertical: booleanValue(camera.invert_vertical, "vertical camera inversion"),
     },
+    ugv,
+  };
+}
+
+function parseUgvPreset(value: unknown): SimulationUgvPreset {
+  const record = objectValue(value, "UGV settings");
+  exactKeys(
+    record,
+    ["preset_name", "mass_kg", "dimensions_m", "max_speed_mps", "max_turn_rate_degrees", "invert_steering"],
+    "UGV settings",
+  );
+  const dimensions = objectValue(record.dimensions_m, "UGV dimensions");
+  exactKeys(dimensions, ["length", "width", "height", "ground_clearance"], "UGV dimensions");
+  const presetName = stringValue(record.preset_name, "UGV preset name");
+  if (presetName.length > 80) return invalid("UGV preset name");
+  const height = finiteNumberValue(
+    dimensions.height,
+    SIMULATION_UGV_EXACT_VALUE_LIMITS.height.min,
+    SIMULATION_UGV_EXACT_VALUE_LIMITS.height.max,
+    "UGV height",
+  );
+  const groundClearance = finiteNumberValue(
+    dimensions.ground_clearance,
+    SIMULATION_UGV_EXACT_VALUE_LIMITS.groundClearance.min,
+    SIMULATION_UGV_EXACT_VALUE_LIMITS.groundClearance.max,
+    "UGV ground clearance",
+  );
+  if (groundClearance >= height - 0.05) return invalid("UGV ground clearance");
+  return {
+    presetName,
+    massKg: finiteNumberValue(
+      record.mass_kg,
+      SIMULATION_UGV_EXACT_VALUE_LIMITS.massKg.min,
+      SIMULATION_UGV_EXACT_VALUE_LIMITS.massKg.max,
+      "UGV mass",
+    ),
+    dimensionsMeters: {
+      length: finiteNumberValue(
+        dimensions.length,
+        SIMULATION_UGV_EXACT_VALUE_LIMITS.length.min,
+        SIMULATION_UGV_EXACT_VALUE_LIMITS.length.max,
+        "UGV length",
+      ),
+      width: finiteNumberValue(
+        dimensions.width,
+        SIMULATION_UGV_EXACT_VALUE_LIMITS.width.min,
+        SIMULATION_UGV_EXACT_VALUE_LIMITS.width.max,
+        "UGV width",
+      ),
+      height,
+      groundClearance,
+    },
+    maxSpeedMetersPerSecond: finiteNumberValue(
+      record.max_speed_mps,
+      SIMULATION_UGV_EXACT_VALUE_LIMITS.maxSpeedMetersPerSecond.min,
+      SIMULATION_UGV_EXACT_VALUE_LIMITS.maxSpeedMetersPerSecond.max,
+      "UGV maximum speed",
+    ),
+    maxTurnRateDegrees: finiteNumberValue(
+      record.max_turn_rate_degrees,
+      SIMULATION_UGV_EXACT_VALUE_LIMITS.maxTurnRateDegrees.min,
+      SIMULATION_UGV_EXACT_VALUE_LIMITS.maxTurnRateDegrees.max,
+      "UGV maximum turn rate",
+    ),
+    invertSteering: booleanValue(record.invert_steering, "UGV steering inversion"),
   };
 }
 
 function parseLayerViewerSettings(
   value: unknown,
   label: string,
-): { inverted: boolean; axis: SimulationTransformAxis } {
+): { rotationDegrees: SimulationEulerRotation } {
   const record = objectValue(value, label);
-  exactKeys(record, ["inverted", "axis"], label);
+  exactKeys(record, ["rotation_degrees"], label);
+  const rotation = objectValue(record.rotation_degrees, `${label} rotation`);
+  exactKeys(rotation, ["x", "y", "z"], `${label} rotation`);
   return {
-    inverted: booleanValue(record.inverted, `${label} inversion`),
-    axis: axisValue(record.axis),
+    rotationDegrees: {
+      x: rotationValue(rotation.x, `${label} X rotation`),
+      y: rotationValue(rotation.y, `${label} Y rotation`),
+      z: rotationValue(rotation.z, `${label} Z rotation`),
+    },
   };
 }
 
@@ -466,9 +687,18 @@ function sceneTypeValue(value: unknown): SimulationSceneType {
   return invalid("scene type");
 }
 
-function axisValue(value: unknown): SimulationTransformAxis {
-  if (value === "x" || value === "y" || value === "z") return value;
-  return invalid("transform axis");
+function rotationValue(value: unknown, label: string): number {
+  if (typeof value === "number" && Number.isFinite(value) && value >= -360 && value <= 360) {
+    return value;
+  }
+  return invalid(label);
+}
+
+function finiteNumberValue(value: unknown, minimum: number, maximum: number, label: string): number {
+  if (typeof value === "number" && Number.isFinite(value) && value >= minimum && value <= maximum) {
+    return value;
+  }
+  return invalid(label);
 }
 
 function qualityValue(value: unknown): SimulationViewerQuality {
@@ -488,3 +718,7 @@ function statusValue(value: unknown): SimulationProjectStatus {
 function invalid(label: string): never {
   throw new Error(`Некорректный ${label}.`);
 }
+
+function clamp(value: number, minimum: number, maximum: number): number {
+  return Math.min(maximum, Math.max(minimum, value));
+}

apps/control-station/src/core/simulation/sourceFiles.ts

@@ -0,0 +1,146 @@
+import type { SimulationUploadCandidate } from "./projects";
+
+const ARCHIVE_PATTERN = /\.(zip|rar|7z)$/i;
+export const MAX_SIMULATION_SOURCE_BYTES = 16 * 1024 ** 3;
+
+interface LegacyFileEntry {
+  isFile: boolean;
+  isDirectory: boolean;
+  name: string;
+  fullPath: string;
+  file?: (callback: (file: File) => void, error?: (error: DOMException) => void) => void;
+  createReader?: () => LegacyDirectoryReader;
+}
+
+interface LegacyDirectoryReader {
+  readEntries: (
+    callback: (entries: LegacyFileEntry[]) => void,
+    error?: (error: DOMException) => void,
+  ) => void;
+}
+
+export async function candidatesFromDrop(
+  transfer: DataTransfer,
+): Promise<SimulationUploadCandidate[]> {
+  const candidates: SimulationUploadCandidate[] = [];
+  for (const item of Array.from(transfer.items)) {
+    const entry = (item as DataTransferItem & {
+      webkitGetAsEntry?: () => LegacyFileEntry | null;
+    }).webkitGetAsEntry?.();
+    if (entry?.isDirectory) {
+      await collectEntry(entry, candidates);
+      continue;
+    }
+    const file = item.getAsFile();
+    if (file) {
+      candidates.push({ file, logicalPath: file.name });
+      continue;
+    }
+    if (entry) await collectEntry(entry, candidates);
+  }
+  if (!candidates.length) {
+    for (const file of Array.from(transfer.files)) {
+      candidates.push({ file, logicalPath: file.name });
+    }
+  }
+  return candidates;
+}
+
+export async function archivesFromDrop(transfer: DataTransfer): Promise<File[]> {
+  const candidates = await candidatesFromDrop(transfer);
+  const invalid = candidates.filter((candidate) => !ARCHIVE_PATTERN.test(candidate.logicalPath));
+  if (invalid.length) {
+    throw new Error("В каталог можно перетащить только отдельные архивы ZIP, RAR или 7z.");
+  }
+  if (!candidates.length) {
+    throw new Error("В перетаскивании не найдено архивов ZIP, RAR или 7z.");
+  }
+  for (const candidate of candidates) {
+    if (candidate.logicalPath.includes("/")) {
+      throw new Error("Перетащите сами архивы, а не содержащую их папку.");
+    }
+    if (candidate.file.size <= 0) {
+      throw new Error(`Пустой архив: ${candidate.file.name}`);
+    }
+    if (candidate.file.size > MAX_SIMULATION_SOURCE_BYTES) {
+      throw new Error(`Архив ${candidate.file.name} превышает лимит 16 ГБ.`);
+    }
+  }
+  return candidates.map((candidate) => candidate.file);
+}
+
+export function validateSimulationCandidates(candidates: SimulationUploadCandidate[]): void {
+  if (!candidates.length) throw new Error("Выберите архив или папку с результатом LCC/LCC2.");
+  const archives = candidates.filter((candidate) => ARCHIVE_PATTERN.test(candidate.logicalPath));
+  if (archives.length) {
+    if (candidates.length !== 1) throw new Error("Архив нужно загружать одним файлом.");
+    if (archives[0]!.file.size <= 0) throw new Error(`Пустой файл: ${archives[0]!.logicalPath}`);
+    if (archives[0]!.file.size > MAX_SIMULATION_SOURCE_BYTES) {
+      throw new Error(`Архив ${archives[0]!.logicalPath} превышает лимит 16 ГБ.`);
+    }
+    return;
+  }
+  const descriptors = candidates.filter((candidate) => /\.lcc2?$/i.test(candidate.logicalPath));
+  if (descriptors.length !== 1) {
+    throw new Error("В папке должна быть ровно одна сцена .lcc или .lcc2.");
+  }
+  const paths = new Set<string>();
+  let totalBytes = 0;
+  for (const candidate of candidates) {
+    const parts = candidate.logicalPath.split("/");
+    if (
+      !candidate.logicalPath
+      || candidate.logicalPath.startsWith("/")
+      || candidate.logicalPath.includes("\\")
+      || candidate.logicalPath.includes("\0")
+      || parts.some((part) => part === "" || part === "." || part === "..")
+    ) {
+      throw new Error("Папка содержит небезопасный путь.");
+    }
+    if (candidate.file.size <= 0) throw new Error(`Пустой файл: ${candidate.logicalPath}`);
+    totalBytes += candidate.file.size;
+    if (paths.has(candidate.logicalPath)) throw new Error(`Повторяющийся путь: ${candidate.logicalPath}`);
+    paths.add(candidate.logicalPath);
+  }
+  if (totalBytes > MAX_SIMULATION_SOURCE_BYTES) {
+    throw new Error("Папка с исходниками превышает лимит 16 ГБ.");
+  }
+}
+
+export function hasDroppedFiles(transfer: DataTransfer): boolean {
+  return transfer.files.length > 0
+    || Array.from(transfer.items).some((item) => item.kind === "file")
+    || Array.from(transfer.types).some((type) => type.toLowerCase() === "files");
+}
+
+export function archiveProjectName(fileName: string): string {
+  const name = fileName.replace(ARCHIVE_PATTERN, "").trim();
+  return name || "Новая сцена";
+}
+
+function collectEntry(
+  entry: LegacyFileEntry,
+  target: SimulationUploadCandidate[],
+): Promise<void> {
+  if (entry.isFile && entry.file) {
+    return new Promise<File>((resolve, reject) => entry.file?.(resolve, reject))
+      .then((file) => {
+        target.push({ file, logicalPath: entry.fullPath.replace(/^\//, "") || file.name });
+      });
+  }
+  if (!entry.isDirectory || !entry.createReader) return Promise.resolve();
+  return collectDirectory(entry.createReader(), target);
+}
+
+async function collectDirectory(
+  reader: LegacyDirectoryReader,
+  target: SimulationUploadCandidate[],
+): Promise<void> {
+  while (true) {
+    const batch = await new Promise<LegacyFileEntry[]>((resolve, reject) => {
+      reader.readEntries(resolve, reject);
+    });
+    if (!batch.length) return;
+    for (const child of batch) await collectEntry(child, target);
+  }
+}

apps/control-station/src/core/system/useWorkerTelemetry.ts

@@ -38,6 +38,8 @@ export function useWorkerTelemetry(
       setError(null);
       return;
     }
+    setTelemetry(null);
+    setError(null);
     const controller = new AbortController();
     const stopPolling = startSequentialPolling(async () => {
       setLoading(true);
@@ -48,6 +50,7 @@ export function useWorkerTelemetry(
         setError(null);
       } catch (reason: unknown) {
         if (controller.signal.aborted) return;
+        setTelemetry(null);
         setError(
           reason instanceof Error
             ? reason.message

apps/control-station/src/core/system/workerTelemetry.ts

@@ -114,6 +114,9 @@ export interface WorkerTelemetry {
       power_watts?: number;
       temperature_celsius?: number;
       memory_used_percent?: number;
+      sm_clock_mhz?: number | null;
+      memory_clock_mhz?: number | null;
+      driver_version?: string | null;
     } | null;
     triton: {
       ready: boolean;
@@ -131,6 +134,13 @@ export interface WorkerTelemetry {
     completed_runs: number | null;
     failed_runs: number | null;
     model_load_seconds: number | null;
+    profile_name?: string | null;
+    input_state?: string | null;
+    wait_reason?: string | null;
+    live_children?: number | null;
+    input_pauses?: number | null;
+    pending_bundles?: number | null;
+    buffer_bytes?: number | null;
     stages: WorkerPipelineStage[];
   };
   network: {
@@ -189,7 +199,9 @@ export async function fetchWorkerTelemetry(
       `/api/v1/system/contours/${encodeURIComponent(contourId)}/telemetry?history=90`,
       {
         method: "GET",
-        signal,
+        signal: signal
+          ? AbortSignal.any([signal, AbortSignal.timeout(5_000)])
+          : AbortSignal.timeout(5_000),
       },
     ),
     "missioncore.worker-telemetry/v1",

apps/control-station/src/productModel.ts

@@ -16,6 +16,7 @@ export type WorkspaceKind =
   | "map"
   | "timeline"
   | "missions"
+  | "vehicles"
   | "catalog"
   | "contour-health"
   | "compute-modules"
@@ -23,7 +24,8 @@ export type WorkspaceKind =
   | "datasets"
   | "artifact-health"
   | "lab-archive"
-  | "simulations";
+  | "simulations"
+  | "observatory";
 
 export type CapabilityStatus = "active" | "ready" | "contract" | "later";
 
@@ -161,11 +163,22 @@ export const workspaces: WorkspaceDefinition[] = [
     label: "Симуляции",
     title: "Симуляции",
     eyebrow: "ТЕСТОВЫЙ КОНТУР / СИМУЛЯЦИИ",
-    description: "Каталог Gaussian-миров, переносимые сборки и интерактивные PlayCanvas-сцены.",
+    description: "Каталог Gaussian-миров, переносимые сборки и интерактивные сцены.",
     icon: "globe",
     kind: "simulations",
     groups: [],
   },
+  {
+    id: "observatory",
+    root: "polygon",
+    label: "AI Inference",
+    title: "AI Inference",
+    eyebrow: "ТЕСТОВЫЙ КОНТУР / AI INFERENCE",
+    description: "Сессии и квалификация без доступа к управлению.",
+    icon: "eye",
+    kind: "observatory",
+    groups: [],
+  },
   {
     id: "contour-health",
     root: "fleet",
@@ -181,23 +194,12 @@ export const workspaces: WorkspaceDefinition[] = [
     id: "vehicles",
     root: "fleet",
     label: "Аппараты",
-    title: "Реестр аппаратов",
+    title: "Аппараты",
     eyebrow: "ПАРК / РЕЕСТР",
-    description: "Нейтральный реестр наземных, воздушных и стационарных платформ.",
+    description: "Аппараты и их бортовые компьютеры в частном контуре.",
     icon: "apps",
-    kind: "catalog",
-    groups: [
-      {
-        title: "Идентичность аппарата",
-        description: "Никакой привязки продуктовой модели к конкретному производителю.",
-        capabilities: [
-          ready("Локальный стенд", "Первый аппарат представлен текущим устройством и его адаптером."),
-          contract("Паспорт борта", "Тип, серийный профиль, вычислитель, питание и транспорт."),
-          contract("Состояние доступности", "Онлайн, занят, обслуживание, потеря связи."),
-          later("Группы и рои", "Логические группы, роли и совместное назначение миссий."),
-        ],
-      },
-    ],
+    kind: "vehicles",
+    groups: [],
   },
   {
     id: "local-device",

apps/control-station/src/styles.css

@@ -21,6 +21,7 @@
 @import "./styles/device.css";
 @import "./styles/responsive.css";
 @import "./styles/observation.css";
+@import "./styles/observatory.css";
 @import "./styles/environment-settings.css";
 @import "./styles/system-telemetry.css";
 @import "./styles/artifact-health.css";

apps/control-station/src/styles/m4-replay-threat.css

@@ -27,6 +27,78 @@
   display: block;
 }
 
+.m4-replay-threat-visual__unified-content {
+  position: absolute;
+  z-index: 1;
+  inset: 0;
+  min-width: 0;
+  min-height: 0;
+}
+
+.m4-replay-threat-visual__unified-content > *,
+.m4-replay-threat-visual__unified-content .rerun-viewport {
+  width: 100%;
+  height: 100%;
+}
+
+.m4-replay-threat-visual__deck[data-native-rerun="true"] > .nodedc-split-pane {
+  position: relative;
+  z-index: 2;
+  pointer-events: none;
+}
+
+.m4-replay-threat-visual__deck[data-native-rerun="true"]
+  .m4-replay-threat-visual__pane {
+  background: transparent;
+  pointer-events: none;
+}
+
+.m4-replay-threat-visual__deck[data-native-rerun="true"]
+  .nodedc-split-pane__separator,
+.m4-replay-threat-visual__deck[data-native-rerun="true"]
+  .m4-replay-threat-visual__pane-toolbar,
+.m4-replay-threat-visual__deck[data-native-rerun="true"]
+  .m4-replay-threat-visual__pane-toolbar * {
+  pointer-events: auto;
+}
+
+.canonical-vegetation-rerun-replay {
+  width: 100%;
+  min-width: 0;
+}
+
+.canonical-vegetation-rerun-replay:not([data-presentation-state="ready"])
+  .m4-replay-threat-visual__pane-toolbar,
+.canonical-vegetation-rerun-replay:not([data-presentation-state="ready"])
+  .laboratory-evidence-viewer__controls,
+.canonical-vegetation-rerun-replay:not([data-presentation-state="ready"])
+  .laboratory-evidence-viewer__transport {
+  visibility: hidden;
+  pointer-events: none;
+}
+
+.canonical-vegetation-rerun-replay[data-presentation-state="loading"]
+  .m4-replay-threat-visual__unified-content {
+  visibility: hidden;
+}
+
+.canonical-vegetation-rerun-replay__viewport-lock {
+  width: 100%;
+  height: 100%;
+  min-width: 0;
+  min-height: 0;
+}
+
+.canonical-vegetation-rerun-replay__loading {
+  position: absolute;
+  z-index: 6;
+  inset: 0;
+  display: grid;
+  place-items: center;
+  background: var(--nodedc-canvas);
+  pointer-events: none;
+}
+
 .m4-replay-threat-visual__deck[data-empty="true"] > .l3-visual-audit__state {
   position: absolute;
   z-index: 1;
@@ -73,12 +145,14 @@
   display: flex;
   min-width: 0;
   align-items: center;
+  align-content: flex-start;
+  flex-wrap: wrap;
   gap: 0.35rem;
   pointer-events: none;
 }
 
 .m4-replay-threat-visual__pane-toolbar[data-pane-toolbar="media"] {
-  justify-content: flex-end;
+  justify-content: flex-start;
 }
 
 .m4-replay-threat-evidence-viewer[data-mode-controls="content"]:has(
@@ -88,12 +162,17 @@
 }
 
 .m4-replay-threat-visual__pane-toolbar[data-pane-toolbar="spatial"] {
-  justify-content: space-between;
+  justify-content: flex-start;
 }
 
 .m4-replay-threat-evidence-viewer[data-mode-controls="content"]
-  .m4-replay-threat-visual__pane-toolbar[data-pane-toolbar="spatial"] {
-  right: 3.8rem;
+  .m4-replay-threat-visual__pane-toolbar[data-pane-toolbar="spatial"],
+.m4-replay-threat-evidence-viewer[data-mode-controls="content"]
+  .m4-replay-threat-visual__deck:not([data-split="true"])
+  .m4-replay-threat-visual__pane-toolbar[data-pane-toolbar="media"] {
+  /* The two viewer-wide actions stay at the deck's right edge. Keep their
+     complete hit area out of this viewport-owned toolbar at every split. */
+  right: 7rem;
 }
 
 .m4-replay-threat-visual__pane-toolbar > *,
@@ -102,18 +181,15 @@
 }
 
 .m4-replay-threat-visual__spatial-toolbar-end {
-  display: flex;
-  min-width: 0;
-  align-items: center;
-  justify-content: flex-end;
-  gap: 0.35rem;
-  overflow-x: auto;
-  overscroll-behavior-inline: contain;
-  scrollbar-width: none;
+  display: contents;
 }
 
-.m4-replay-threat-visual__spatial-toolbar-end::-webkit-scrollbar {
-  display: none;
+.m4-replay-threat-visual__pane-toolbar > .m4-replay-threat-visual__pane-layer-controls,
+.m4-replay-threat-visual__spatial-toolbar-end > .m4-replay-threat-visual__pane-layer-controls {
+  /* A viewport toolbar is one adaptive flex sequence. `display: contents`
+     keeps the semantic layer group while allowing each control to move to the
+     next row only when the viewport itself runs out of width. */
+  display: contents;
 }
 
 .m4-replay-threat-visual__pane-mode-controls {
@@ -162,7 +238,8 @@
   display: flex;
   align-items: center;
   gap: 0.4rem;
-  border: 1px solid var(--nodedc-glass-outline);
+  border: 0;
+  outline: 0;
   border-radius: var(--nodedc-radius-control-compact);
   background: var(--nodedc-floating-surface);
   padding: 0.42rem 0.58rem;
@@ -183,6 +260,15 @@
   pointer-events: none;
 }
 
+.canonical-vegetation-rerun-replay
+  .m4-replay-threat-evidence-viewer[data-mode-controls="content"]
+  .laboratory-evidence-viewer__controls {
+  right: 0.6rem;
+  left: auto;
+  width: auto;
+  justify-content: flex-end;
+}
+
 .m4-replay-threat-evidence-viewer[data-mode-controls="content"] .laboratory-evidence-viewer__controls > .nodedc-icon-button {
   pointer-events: auto;
 }
@@ -207,6 +293,30 @@
   scrollbar-width: none;
 }
 
+.m4-replay-threat-visual__layer-with-settings {
+  display: inline-flex;
+  flex: none;
+  align-items: center;
+  gap: 0.18rem;
+  border: 0;
+  border-radius: 999px;
+  background: var(--nodedc-glass-control-bg);
+  padding: 0.12rem;
+}
+
+.m4-replay-threat-visual__layer-with-settings > .nodedc-icon-button {
+  width: 1.75rem;
+  height: 1.75rem;
+  border: 0;
+  outline: 0;
+  box-shadow: none;
+}
+
+.m4-replay-threat-visual__layer-with-settings > .nodedc-icon-button:focus-visible {
+  background: var(--nodedc-focus-surface);
+  box-shadow: inset 0 0 0 1px rgb(var(--nodedc-accent-rgb) / 0.22);
+}
+
 .m4-replay-threat-visual__review-controls,
 .m4-replay-threat-visual__review-controls > *,
 .m4-replay-threat-visual__single-pane-controls,
@@ -232,6 +342,10 @@
   grid-template-columns: auto auto auto minmax(0, 1fr) auto;
 }
 
+.canonical-vegetation-rerun-replay__timeline .observation-timeline__playback {
+  grid-template-columns: auto auto minmax(0, 1fr) auto;
+}
+
 .m4-replay-threat-visual__overlay {
   box-sizing: border-box;
   min-width: 0;

apps/control-station/src/styles/observatory.css

@@ -0,0 +1,640 @@
+.observatory-workspace {
+  display: grid;
+  grid-auto-rows: max-content;
+  align-content: start;
+  gap: 1rem;
+  min-width: 0;
+  min-height: 100%;
+  padding: 1rem;
+  container-name: observatory-workspace;
+  container-type: inline-size;
+}
+
+.observatory-catalog-bar,
+.observatory-catalog-bar__controls,
+.observatory-notice,
+.observatory-evidence > header {
+  display: flex;
+  align-items: center;
+  justify-content: space-between;
+  gap: 1rem;
+}
+
+.observatory-notice {
+  flex-wrap: wrap;
+}
+
+.observatory-catalog-bar__copy,
+.observatory-evidence header > div {
+  min-width: 0;
+}
+
+.observatory-catalog-bar h3,
+.observatory-session-summary h3,
+.observatory-evidence h3 {
+  margin: 0.3rem 0 0;
+}
+
+.observatory-catalog-bar h3,
+.observatory-session-summary h3,
+.observatory-evidence h3 {
+  font-size: var(--nodedc-font-size-lg);
+  letter-spacing: -0.02em;
+  line-height: 1.15;
+}
+
+.observatory-state p,
+.observatory-evidence-empty p {
+  max-width: 52rem;
+  margin: 0.35rem 0 0;
+  color: var(--nodedc-text-muted);
+  font-size: var(--nodedc-font-size-sm);
+  line-height: 1.35;
+}
+
+.observatory-catalog-bar,
+.observatory-session-summary {
+  align-self: start;
+  min-height: 0;
+}
+
+.observatory-catalog-bar__copy {
+  display: grid;
+  flex: 0 0 auto;
+  align-content: center;
+  gap: 0.1rem;
+}
+
+.observatory-catalog-bar h3 {
+  margin-top: 0.1rem;
+}
+
+.observatory-catalog-bar__controls {
+  min-width: 0;
+  flex: 1 1 auto;
+  flex-wrap: nowrap;
+  justify-content: flex-end;
+}
+
+.observatory-catalog-bar__controls .nodedc-select-anchor {
+  flex: 1 1 18rem;
+  min-width: 0;
+}
+
+.observatory-catalog-bar__controls > .nodedc-button {
+  flex: 0 0 auto;
+}
+
+.observatory-catalog-bar__run {
+  display: flex;
+  flex: 0 0 auto;
+  align-items: center;
+  gap: 0.55rem;
+}
+
+.observatory-state {
+  display: grid;
+  min-height: 19rem;
+  place-items: center;
+  align-content: center;
+  gap: 0.7rem;
+  text-align: center;
+}
+
+.observatory-state h3 {
+  max-width: 42rem;
+  margin: 0;
+}
+
+.observatory-session-stack {
+  display: grid;
+  grid-auto-rows: max-content;
+  align-content: start;
+  gap: 0.9rem;
+  container-name: observatory-session;
+  container-type: inline-size;
+}
+
+.observatory-session-summary {
+  display: grid;
+  grid-template-columns: minmax(11rem, 1.05fr) minmax(20rem, 1.6fr) minmax(11rem, auto);
+  align-items: center;
+  gap: 0.75rem;
+}
+
+.observatory-session-summary__identity {
+  display: grid;
+  min-width: 0;
+  gap: 0.22rem;
+}
+
+.observatory-session-summary__identity h3 {
+  margin: 0.1rem 0 0;
+}
+
+.observatory-session-summary__identity code {
+  overflow: hidden;
+  color: var(--nodedc-text-muted);
+  font-size: var(--nodedc-font-size-xs);
+  text-overflow: ellipsis;
+  white-space: nowrap;
+}
+
+.observatory-session-summary__facts {
+  display: grid;
+  grid-template-columns: repeat(3, minmax(6.5rem, 1fr));
+  gap: 0.75rem;
+  margin: 0;
+}
+
+.observatory-session-summary__facts > div {
+  display: grid;
+  min-width: 0;
+  gap: 0.24rem;
+}
+
+.observatory-session-summary__facts dt {
+  color: var(--nodedc-text-muted);
+  font-size: var(--nodedc-font-size-xs);
+}
+
+.observatory-session-summary__facts dd {
+  min-width: 0;
+  margin: 0;
+  overflow-wrap: anywhere;
+  color: var(--nodedc-text-secondary);
+  font-size: var(--nodedc-font-size-sm);
+  line-height: 1.35;
+}
+
+.observatory-session-summary__end {
+  display: grid;
+  min-width: 0;
+  justify-items: end;
+  gap: 0.4rem;
+}
+
+.observatory-modalities {
+  display: flex;
+  flex-wrap: wrap;
+  justify-content: flex-end;
+  gap: 0.45rem;
+  align-items: center;
+  color: var(--nodedc-text-muted);
+}
+
+.observatory-evidence {
+  display: grid;
+  gap: 0.65rem;
+}
+
+.observatory-evidence > header {
+  padding: 0 0.2rem;
+}
+
+.observatory-evidence__ordering {
+  display: flex;
+  flex: none;
+  align-items: center;
+  gap: 0.55rem;
+}
+
+.observatory-evidence__sort {
+  display: grid;
+  width: 1.7rem;
+  height: 1.7rem;
+  place-items: center;
+  border: 0;
+  outline: 0;
+  border-radius: 0;
+  background: transparent;
+  padding: 0;
+  color: var(--nodedc-text-secondary);
+  cursor: pointer;
+}
+
+.observatory-evidence__sort:hover,
+.observatory-evidence__sort:focus-visible {
+  background: var(--nodedc-glass-control-bg);
+  color: var(--nodedc-text-primary);
+}
+
+.observatory-evidence__sort svg {
+  width: 1.1rem;
+  height: 1.1rem;
+  transition: transform 160ms ease-out;
+}
+
+.observatory-evidence__sort path {
+  fill: none;
+  stroke: currentColor;
+  stroke-linecap: round;
+  stroke-width: 1.5;
+}
+
+.observatory-evidence__sort[data-direction="oldest"] svg {
+  transform: rotate(180deg);
+}
+
+.observatory-evidence-list {
+  display: grid;
+  gap: 0.4rem;
+  margin: 0;
+  padding: 0;
+  list-style: none;
+}
+
+.observatory-evidence-card {
+  display: grid;
+  grid-template-columns: auto minmax(0, 1fr) auto auto;
+  align-items: center;
+  gap: 0.8rem;
+  min-height: 4.25rem;
+  padding: 0.7rem 0.85rem;
+  border-radius: var(--nodedc-radius-control-compact);
+  background: var(--nodedc-glass-control-bg);
+}
+
+.observatory-evidence-card__icon {
+  display: grid;
+  width: 2.15rem;
+  height: 2.15rem;
+  place-items: center;
+  border-radius: var(--nodedc-radius-circle);
+  background: var(--nodedc-panel-icon-bg);
+  color: var(--nodedc-text-secondary);
+}
+
+.observatory-evidence-card__copy {
+  display: grid;
+  min-width: 0;
+  gap: 0.16rem;
+}
+
+.observatory-evidence-card__copy strong,
+.observatory-evidence-card__copy span,
+.observatory-evidence-card__copy small {
+  min-width: 0;
+  overflow: hidden;
+  text-overflow: ellipsis;
+  white-space: nowrap;
+}
+
+.observatory-evidence-card__copy strong {
+  overflow: visible;
+  text-overflow: clip;
+  white-space: normal;
+  font-size: var(--nodedc-font-size-sm);
+  line-height: 1.3;
+}
+
+.observatory-evidence-card__copy span {
+  color: var(--nodedc-text-secondary);
+  font-size: var(--nodedc-font-size-sm);
+}
+
+.observatory-evidence-card__copy small {
+  color: var(--nodedc-text-muted);
+  font-size: var(--nodedc-font-size-xs);
+}
+
+.observatory-evidence-card--progress {
+  grid-template-columns: auto minmax(0, 1fr) auto auto;
+  border: 0;
+  outline: 0;
+}
+
+.observatory-evidence-card__progress {
+  height: 0.28rem;
+  margin: 0.18rem 0 0.08rem;
+  overflow: hidden;
+  border-radius: 999px;
+  background: rgb(var(--nodedc-accent-rgb) / 0.12);
+}
+
+.observatory-evidence-card__progress > span {
+  display: block;
+  height: 100%;
+  border-radius: inherit;
+  background: rgb(var(--nodedc-accent-rgb));
+  transition: width 180ms ease-out;
+}
+
+.observatory-evidence-card__actions,
+.observatory-replay__header,
+.observatory-replay-state,
+.observatory-replay-state__actions {
+  display: flex;
+  align-items: center;
+  justify-content: space-between;
+  gap: 0.85rem;
+}
+
+.observatory-replay-state {
+  flex-wrap: wrap;
+}
+
+.observatory-replay__header > div,
+.observatory-replay-state > div {
+  min-width: 0;
+}
+
+.observatory-evidence-card__actions:empty {
+  display: none;
+}
+
+.observatory-replay,
+.observatory-replay-state {
+  min-width: 0;
+}
+
+.observatory-replay {
+  display: grid;
+  gap: 0.85rem;
+  font-family: var(--nodedc-font-family);
+}
+
+.observatory-replay__header {
+  padding: 0.25rem 0.25rem 0;
+}
+
+.observatory-replay__header h3,
+.observatory-replay-state h3 {
+  margin: 0.3rem 0 0;
+}
+
+.observatory-replay__header h3 {
+  font-size: var(--nodedc-font-size-sm);
+  line-height: 1.3;
+}
+
+.observatory-replay__header p,
+.observatory-replay-state p,
+.observatory-replay__description {
+  margin: 0.35rem 0 0;
+  color: var(--nodedc-text-muted);
+  font-family: var(--nodedc-font-family);
+  font-size: var(--nodedc-font-size-sm);
+  font-weight: var(--nodedc-font-weight-regular);
+  line-height: 1.35;
+}
+
+.observatory-replay__description {
+  margin-right: 0.25rem;
+  margin-left: 0.25rem;
+}
+
+.observatory-replay .m4-replay-threat-visual__buffering {
+  border: 0;
+  outline: 0;
+}
+
+.observatory-replay .laboratory-evidence-viewer {
+  border: 0;
+  outline: 0;
+  border-radius: 0;
+  box-shadow: none;
+}
+
+.observatory-evidence-empty {
+  display: grid;
+  min-height: 13rem;
+  place-items: center;
+  align-content: center;
+  gap: 0.55rem;
+  text-align: center;
+}
+
+.observatory-notice {
+  justify-content: flex-start;
+  color: var(--nodedc-text-secondary);
+}
+
+.observatory-notice__copy {
+  min-width: 0;
+  flex: 1 1 auto;
+}
+
+.observatory-rename-form,
+.observatory-delete-confirmation {
+  display: grid;
+  gap: 0.75rem;
+}
+
+.observatory-delete-confirmation p,
+.observatory-mutation-error {
+  margin: 0;
+  line-height: 1.5;
+}
+
+.observatory-mutation-error {
+  color: rgb(var(--nodedc-danger-rgb));
+  font-size: var(--nodedc-font-size-sm);
+}
+
+@container observatory-session (max-width: 46rem) {
+  .observatory-session-summary {
+    grid-template-columns: minmax(0, 1fr);
+    align-items: start;
+  }
+
+  .observatory-session-summary__end,
+  .observatory-modalities {
+    justify-items: start;
+    justify-content: flex-start;
+  }
+}
+
+@container observatory-session (max-width: 48rem) {
+  .observatory-evidence-card {
+    grid-template-columns: auto minmax(0, 1fr) auto;
+  }
+
+  .observatory-evidence-card > .nodedc-status {
+    display: none;
+  }
+}
+
+@container observatory-session (max-width: 38rem) {
+  .observatory-session-summary__facts {
+    grid-template-columns: minmax(0, 1fr);
+  }
+
+  .observatory-evidence-card__copy small {
+    white-space: normal;
+  }
+}
+
+@container observatory-workspace (max-width: 920px) {
+  .observatory-catalog-bar,
+  .observatory-catalog-bar__controls,
+  .observatory-notice {
+    align-items: stretch;
+    flex-direction: column;
+  }
+
+  .observatory-catalog-bar__controls {
+    flex-basis: auto;
+  }
+
+  .observatory-catalog-bar__controls .nodedc-select-anchor {
+    flex: 0 0 auto;
+    width: 100%;
+    min-width: 0;
+  }
+
+  .observatory-catalog-bar__run {
+    justify-content: flex-end;
+  }
+}
+
+@media (max-width: 920px) {
+  .observatory-replay__header,
+  .observatory-replay-state {
+    align-items: stretch;
+    flex-direction: column;
+  }
+}
+.observatory-ai-config {
+  display: grid;
+  gap: var(--nodedc-space-4);
+}
+
+.observatory-ai-config__lead,
+.observatory-ai-config__error {
+  margin: 0;
+  color: var(--nodedc-text-secondary);
+  font-size: var(--nodedc-font-size-sm);
+  line-height: 1.45;
+}
+
+.observatory-ai-config__error {
+  color: rgb(var(--nodedc-danger-rgb));
+}
+
+.observatory-ai-config__duplicate {
+  margin-right: auto;
+  color: var(--nodedc-text-secondary);
+  font-size: var(--nodedc-font-size-sm);
+  line-height: 1.4;
+}
+
+@keyframes observatory-ai-calculate-pulse {
+  0%,
+  100% {
+    background-color: var(--nodedc-primary-action-bg);
+  }
+
+  50% {
+    background-color: color-mix(
+      in srgb,
+      var(--nodedc-primary-action-bg) 88%,
+      var(--nodedc-canvas-soft)
+    );
+  }
+}
+
+.observatory-ai-config__calculate--saving:disabled {
+  animation: observatory-ai-calculate-pulse 1.8s ease-in-out infinite;
+  cursor: progress;
+  opacity: 1;
+}
+
+.observatory-ai-config-window {
+  border: 0;
+  outline: 0;
+  box-shadow: var(--nodedc-shadow-window);
+}
+
+.observatory-ai-config-window::before,
+.observatory-ai-config-window::after {
+  display: none;
+}
+
+.observatory-ai-module-group {
+  overflow: hidden;
+  border: 0;
+  outline: 0;
+  border-radius: var(--nodedc-radius-control-compact);
+  background: var(--nodedc-glass-control-bg);
+}
+
+.observatory-ai-module-group > header {
+  display: flex;
+  align-items: center;
+  justify-content: space-between;
+  gap: var(--nodedc-space-3);
+  padding: var(--nodedc-space-3) var(--nodedc-space-4);
+  border: 0;
+  outline: 0;
+}
+
+.observatory-ai-module-group > header > div {
+  display: grid;
+  min-width: 0;
+  gap: 0.2rem;
+}
+
+.observatory-ai-module-group > header .nodedc-status {
+  min-width: 0;
+  max-width: 55%;
+  overflow: hidden;
+  text-overflow: ellipsis;
+}
+
+.observatory-ai-module-group > header span {
+  color: var(--nodedc-text-muted);
+  font-size: var(--nodedc-font-size-xs);
+}
+
+.observatory-ai-module-group__body {
+  padding: var(--nodedc-space-4);
+  border: 0;
+  outline: 0;
+}
+
+.observatory-ai-module-group__body .nodedc-select-anchor {
+  width: 100%;
+}
+
+.observatory-ai-config-window .nodedc-select-trigger,
+.observatory-ai-config-window .nodedc-window__close {
+  border: 0;
+  outline: 0;
+  box-shadow: none;
+}
+
+.observatory-ai-config-window .nodedc-select-trigger:focus-visible,
+.observatory-ai-config-window .nodedc-window__close:focus-visible {
+  background-color: var(--nodedc-focus-surface);
+  box-shadow:
+    var(--nodedc-glass-control-shadow),
+    inset 0 0 0 1px rgb(var(--nodedc-accent-rgb) / 0.22);
+}
+
+@media (max-width: 560px) {
+  .observatory-ai-config-window .nodedc-window__title {
+    white-space: normal;
+  }
+
+  .observatory-ai-module-group > header {
+    align-items: flex-start;
+    flex-direction: column;
+  }
+
+  .observatory-ai-module-group > header .nodedc-status {
+    max-width: 100%;
+    justify-content: flex-start;
+  }
+}
+
+@media (prefers-reduced-motion: reduce) {
+  .observatory-ai-config__calculate--saving:disabled {
+    animation: none;
+    background-color: color-mix(
+      in srgb,
+      var(--nodedc-primary-action-bg) 94%,
+      var(--nodedc-canvas-soft)
+    );
+  }
+}

apps/control-station/src/styles/simulation.css

@@ -1,6 +1,8 @@
 .simulation-workspace {
   display: grid;
+  height: 100%;
   min-width: 0;
+  grid-template-rows: auto minmax(0, 1fr);
   gap: 0.9rem;
   padding-bottom: 1rem;
 }
@@ -17,6 +19,7 @@
 .simulation-viewport__notice,
 .simulation-catalog__summary,
 .simulation-catalog__state,
+.simulation-catalog__notice,
 .simulation-catalog__actions,
 .simulation-project-window__footer-state,
 .simulation-source-drop > div,
@@ -60,7 +63,10 @@
 }
 
 .simulation-catalog {
+  position: relative;
   display: grid;
+  min-height: 0;
+  align-content: start;
   gap: 0.55rem;
   min-width: 0;
 }
@@ -100,23 +106,28 @@
 .simulation-catalog__table-wrap {
   overflow: auto;
   border-radius: 1rem;
-  background: rgb(255 255 255 / 0.025);
+  background: transparent;
 }
 
 .simulation-catalog__table {
   width: 100%;
-  min-width: 62rem;
-  border-collapse: collapse;
+  min-width: 52rem;
+  border-collapse: separate;
+  border-spacing: 0 0.34rem;
 }
 
 .simulation-catalog__table th,
 .simulation-catalog__table td {
-  border-bottom: 1px solid var(--station-hairline);
   padding: 0.72rem 0.8rem;
   text-align: left;
   vertical-align: middle;
 }
 
+.simulation-catalog__table th {
+  padding-top: 0.2rem;
+  padding-bottom: 0.18rem;
+}
+
 .simulation-catalog__table th:first-child,
 .simulation-catalog__table td:first-child {
   padding-left: 1rem;
@@ -124,6 +135,8 @@
 
 .simulation-catalog__table th:last-child,
 .simulation-catalog__table td:last-child {
+  width: 6.4rem;
+  min-width: 6.4rem;
   padding-right: 1rem;
 }
 
@@ -131,12 +144,21 @@
   transition: background var(--nodedc-duration-fast) var(--nodedc-ease-standard);
 }
 
-.simulation-catalog__table tbody tr:hover {
+.simulation-catalog__table tbody td {
   background: rgb(255 255 255 / 0.025);
+  transition: background var(--nodedc-duration-fast) var(--nodedc-ease-standard);
 }
 
-.simulation-catalog__table tbody tr:last-child td {
-  border-bottom: 0;
+.simulation-catalog__table tbody tr:hover td {
+  background: rgb(255 255 255 / 0.045);
+}
+
+.simulation-catalog__table tbody td:first-child {
+  border-radius: 0.85rem 0 0 0.85rem;
+}
+
+.simulation-catalog__table tbody td:last-child {
+  border-radius: 0 0.85rem 0.85rem 0;
 }
 
 .simulation-catalog__table td {
@@ -156,7 +178,7 @@
   display: flex;
   align-items: center;
   gap: 0.65rem;
-  min-width: 14rem;
+  min-width: 11rem;
   border: 0;
   background: transparent;
   color: inherit;
@@ -165,16 +187,26 @@
   cursor: pointer;
 }
 
+.simulation-catalog__table td:first-child > button > span:last-child {
+  min-width: 0;
+}
+
 .simulation-catalog__table td:first-child > button strong {
   display: block;
   max-width: 20rem;
-  overflow: hidden;
+  overflow: clip;
   color: var(--nodedc-text-primary);
   font-size: 0.7rem;
   text-overflow: ellipsis;
   white-space: nowrap;
 }
 
+.simulation-catalog__table td:first-child > button small {
+  overflow: hidden;
+  text-overflow: ellipsis;
+  white-space: nowrap;
+}
+
 .simulation-catalog__project-icon,
 .simulation-catalog__empty > span {
   display: grid;
@@ -188,10 +220,53 @@
 }
 
 .simulation-catalog__actions {
+  display: flex;
   justify-content: flex-end;
   gap: 0.28rem;
 }
 
+.simulation-catalog__progress {
+  display: grid;
+  min-width: 0;
+  gap: 0.26rem;
+}
+
+.simulation-catalog__progress-meta,
+.simulation-catalog__progress-stage {
+  overflow: hidden;
+  color: var(--nodedc-text-muted);
+  font-size: 0.54rem;
+  text-overflow: ellipsis;
+  white-space: nowrap;
+}
+
+.simulation-catalog__progress-track {
+  position: relative;
+  overflow: hidden;
+  width: 100%;
+  height: 0.3rem;
+  border-radius: 999px;
+  background: rgb(255 255 255 / 0.08);
+}
+
+.simulation-catalog__progress-track i {
+  position: absolute;
+  inset: 0 auto 0 0;
+  min-width: 0;
+  border-radius: inherit;
+  background: rgb(var(--nodedc-accent-rgb));
+  transition: width var(--nodedc-duration-fast) var(--nodedc-ease-standard);
+}
+
+.simulation-catalog__progress[data-indeterminate="true"] .simulation-catalog__progress-track i {
+  width: 28% !important;
+  animation: simulation-progress-pulse 1.6s ease-in-out infinite;
+}
+
+.simulation-catalog__progress-stage {
+  font-size: 0.52rem;
+}
+
 .simulation-catalog__state,
 .simulation-catalog__empty {
   min-height: 20rem;
@@ -203,6 +278,67 @@
   font-size: 0.65rem;
 }
 
+.simulation-catalog__notice {
+  justify-content: flex-start;
+  gap: 0.55rem;
+  border-radius: 0.85rem;
+  background: rgb(var(--nodedc-danger-rgb) / 0.08);
+  color: var(--nodedc-danger);
+  padding: 0.7rem 0.85rem;
+  font-size: 0.62rem;
+}
+
+.simulation-catalog__drop-overlay {
+  position: absolute;
+  z-index: 4;
+  inset: 0;
+  display: grid;
+  place-content: center;
+  justify-items: center;
+  gap: 0.55rem;
+  border-radius: 1rem;
+  background: var(--nodedc-canvas);
+  color: var(--nodedc-text-muted);
+  text-align: center;
+}
+
+.simulation-catalog__drop-mark {
+  display: grid;
+  width: 4rem;
+  height: 4rem;
+  margin-bottom: 0.25rem;
+  place-items: center;
+  border-radius: 50%;
+  background: var(--nodedc-glass-control-active);
+  color: var(--nodedc-glass-control-active-text);
+}
+
+.simulation-catalog__drop-overlay strong {
+  color: var(--nodedc-text-primary);
+  font-size: 0.86rem;
+}
+
+.simulation-catalog__drop-overlay span {
+  font-size: 0.64rem;
+}
+
+.simulation-catalog__drop-overlay small {
+  color: var(--nodedc-text-muted);
+  font-size: 0.56rem;
+}
+
+@keyframes simulation-progress-pulse {
+  from { transform: translateX(-105%); }
+  to { transform: translateX(360%); }
+}
+
+@media (prefers-reduced-motion: reduce) {
+  .simulation-catalog__progress[data-indeterminate="true"] .simulation-catalog__progress-track i {
+    animation: none;
+    transform: translateX(0);
+  }
+}
+
 .simulation-catalog__state > div {
   display: grid;
   gap: 0.2rem;
@@ -342,6 +478,9 @@
 }
 
 .simulation-viewport__toolbar {
+  position: sticky;
+  z-index: 10;
+  top: 0;
   display: grid;
   grid-template-columns: minmax(12rem, 1fr) auto minmax(12rem, 1fr);
   align-items: center;
@@ -379,19 +518,34 @@
   top: calc(100% + 0.65rem);
   right: 0;
   display: grid;
+  grid-template-rows: auto minmax(0, 1fr);
   width: min(21rem, calc(100cqw - 1.3rem));
-  gap: 0.75rem;
-  border-radius: 0.9rem;
-  background: rgb(25 27 31 / 0.98);
-  box-shadow: 0 1rem 3rem rgb(0 0 0 / 0.42);
-  padding: 0.8rem;
+  max-height: min(44rem, calc(100vh - 7rem));
+  overflow: clip;
+  gap: 0;
+  padding: 0;
 }
 
 .simulation-viewport__settings-head {
+  position: relative;
+  z-index: 2;
   display: flex;
   align-items: center;
   justify-content: space-between;
   gap: 0.75rem;
+  background: var(--nodedc-glass-panel-bg-strong);
+  padding: 0.8rem;
+  box-shadow: 0 0.55rem 1rem rgb(0 0 0 / 0.18);
+  backdrop-filter: blur(18px);
+}
+
+.simulation-viewport__settings-scroll {
+  display: grid;
+  min-height: 0;
+  overflow-y: auto;
+  overscroll-behavior: contain;
+  gap: 0.75rem;
+  padding: 0.75rem 0.8rem 0.8rem;
 }
 
 .simulation-viewport__settings-head > div,
@@ -440,16 +594,49 @@
   gap: 0.55rem;
 }
 
-.simulation-viewport__settings-layer-row {
+.simulation-viewport__settings-rotations {
   display: grid;
-  grid-template-columns: minmax(0, 1fr) 4.5rem;
-  align-items: center;
-  gap: 0.55rem;
+  gap: 0.7rem;
 }
 
-.simulation-viewport__axis-select {
-  width: 4.5rem;
-  min-width: 0;
+.simulation-viewport__rotation-row {
+  display: grid;
+  gap: 0.4rem;
+}
+
+.simulation-viewport__rotation-row > strong {
+  color: var(--nodedc-text-secondary);
+  font-size: 0.6rem;
+}
+
+.simulation-viewport__rotation-fields {
+  display: grid;
+  grid-template-columns: repeat(3, minmax(0, 1fr));
+  gap: 0.45rem;
+}
+
+.simulation-viewport__rotation-field {
+  gap: 0.22rem;
+}
+
+.simulation-viewport__rotation-field .nodedc-field__label-row {
+  padding-inline: 0.15rem;
+}
+
+.simulation-viewport__rotation-field .nodedc-field__label {
+  font-size: 0.54rem;
+}
+
+.simulation-viewport__rotation-input {
+  min-height: 1.75rem;
+  padding: 0.2rem 0.55rem;
+  font-size: 0.64rem;
+  text-align: right;
+}
+
+.simulation-viewport__rotation-input:disabled {
+  cursor: not-allowed;
+  opacity: 0.45;
 }
 
 .simulation-viewport__settings-error {
@@ -459,6 +646,30 @@
   padding: 0.55rem 0.65rem;
 }
 
+.simulation-ugv-settings {
+  gap: 0.7rem;
+}
+
+.simulation-ugv-settings__subhead {
+  display: flex;
+  align-items: baseline;
+  justify-content: space-between;
+  gap: 0.65rem;
+  margin-top: 0.1rem;
+  padding-top: 0.55rem;
+  border-top: 1px solid rgb(255 255 255 / 0.055);
+}
+
+.simulation-ugv-settings__subhead strong {
+  color: var(--nodedc-text-secondary);
+  font-size: 0.58rem;
+}
+
+.simulation-ugv-settings__save {
+  width: 100%;
+  margin-top: 0.15rem;
+}
+
 .simulation-viewport__toolbar-balance {
   min-width: 0;
 }
@@ -472,7 +683,7 @@
 .simulation-viewport__stage {
   position: relative;
   min-width: 0;
-  min-height: 30rem;
+  min-height: 18rem;
   overflow: hidden;
 }
 
@@ -491,6 +702,16 @@
   cursor: grabbing;
 }
 
+.simulation-viewport[data-control-mode="ugv"] .simulation-viewport__stage canvas,
+.simulation-viewport[data-control-mode="ugv"] .simulation-viewport__stage canvas:active {
+  cursor: grab;
+}
+
+.simulation-viewport[data-control-mode="ugv"] .simulation-viewport__stage canvas.is-orbiting,
+.simulation-viewport[data-control-mode="ugv"] .simulation-viewport__stage canvas.is-orbiting:active {
+  cursor: grabbing;
+}
+
 .simulation-viewport__stage canvas:focus-visible {
   box-shadow: inset 0 0 0 2px rgb(var(--nodedc-accent-rgb) / 0.7);
 }

apps/control-station/src/styles/spatial.css

@@ -78,7 +78,7 @@
   overflow: hidden;
 }
 
-/* Rerun WebViewer 0.34.1 keeps three fixed 24px canvas rows even after its
+/* The upstream Rerun canvas keeps three fixed 24px rows even after its
    panels are overridden: the native top row, recording tab and view tab.
    They are drawn inside WASM and cannot be styled independently, so crop the
    fixed native chrome while keeping the actual 3D viewport full-height. */
@@ -88,6 +88,13 @@
   height: calc(100% + var(--rerun-native-chrome-height));
 }
 
+.rerun-viewport__runtime {
+  display: block;
+  width: 100%;
+  height: 100%;
+  border: 0;
+}
+
 .rerun-viewport__canvas canvas {
   display: block;
   width: 100% !important;

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

@@ -1,3 +1,4 @@
+import { VehiclesWorkspace } from "./fleet/VehiclesWorkspace";
 import { useCallback, useEffect, useMemo, useRef, useState } from "react";
 import { Button, GlassSurface, Icon, StatusBadge } from "@nodedc/ui-react";
 import {
@@ -12,6 +13,7 @@ import type {
   RecordedCameraAdmissionState,
 } from "../core/observation/recordedSessionAdmission";
 import { liveRerunRecoveryAuthorityIdentity } from "../core/observation/liveReceiverWatchdog";
+import { liveAcquisitionRerunProfile, recordedSessionRerunProfile } from "../core/observation/viewerProfile";
 import type { ObservationSourceDescriptor } from "../core/runtime/contracts";
 import {
   RerunViewport,
@@ -40,13 +42,13 @@ import { SimulationWorkspace } from "./simulation/SimulationWorkspace";
 import { ComputeModulesWorkspace } from "./system/ComputeModulesWorkspace";
 import { NetworkWorkspace } from "./system/NetworkWorkspace";
 import { WorldMapWorkspace } from "./map/WorldMapWorkspace";
+import { ObservatoryWorkspace } from "./observatory/ObservatoryWorkspace";
 function statusTone(status: CapabilityStatus): "success" | "accent" | "warning" | "neutral" {
   if (status === "active") return "success";
   if (status === "ready") return "accent";
   if (status === "contract") return "warning";
   return "neutral";
 }
-
 function FeatureInventory({ definition }: { definition: WorkspaceDefinition }) {
   return (
     <div className="feature-inventory">
@@ -76,7 +78,6 @@ function FeatureInventory({ definition }: { definition: WorkspaceDefinition }) {
     </div>
   );
 }
-
 function WorkspaceLead({ definition, note }: { definition: WorkspaceDefinition; note?: string }) {
   return (
     <section className="workspace-lead workspace-lead--compact">
@@ -89,7 +90,6 @@ function WorkspaceLead({ definition, note }: { definition: WorkspaceDefinition;
     </section>
   );
 }
-
 function EmptySpatialStage({ settings }: { settings: SceneSettings }) {
   return (
     <div className="empty-spatial-stage" data-grid={settings.showGrid ? "true" : undefined}>
@@ -181,7 +181,7 @@ function SpatialWorkspace({
   );
   const recordedPerceptionSupported =
     recordedSource && perceptionLoad.phase !== "unavailable";
-  const recordedPerceptionReady = recordedSource && perceptionLoad.phase === "ready";
+  const recordedPerceptionLoading = recordedSource && perceptionLoad.phase === "loading";
   const recordedPerceptionEnabled =
     showDetections2d || showSegmentation || showCuboids3d;
   // The native recorded camera remains the authoritative original. Only 2D
@@ -261,7 +261,7 @@ function SpatialWorkspace({
   const shouldPrepareRecordedSource = useCallback((sourceId: string) => {
     if (!recordedSessionAdmission) return false;
     return recordedSessionAdmission.activeCameraSourceIds.has(sourceId) ||
-      recordedSessionAdmission.cameras[sourceId]?.phase === "ready";
+      ["ready", "error"].includes(recordedSessionAdmission.cameras[sourceId]?.phase ?? "loading");
   }, [recordedSessionAdmission]);
   const onSelectionChange = useCallback((next: RerunSelection | null) => setSelection(next), []);
   const onPlaybackChange = useCallback(
@@ -381,6 +381,35 @@ function SpatialWorkspace({
     : presentedViewerStatus === "error"
       ? "danger"
       : "neutral";
+  const rerunViewerProfile = recordedSource
+    ? recordedSessionRerunProfile({
+        sourceUrl,
+        artifact: recordedReplay,
+        autoplayWhenReady: true,
+        presentationGate: recordedSessionGate,
+        expectedTimelineStartSeconds: state?.observationTimeline?.range?.startSeconds,
+        expectedTimelineEndSeconds: state?.observationTimeline?.range?.endSeconds,
+        initialPlaybackStartSeconds: initialRecordedPlaybackStartSeconds,
+        view: "spatial",
+        viewResetGeneration: recordedViewResetGeneration,
+        followTrajectory: followRecordedTrajectory,
+        perceptionLayers: {
+          enabled: recordedPerceptionSupported && recordedPerceptionEnabled,
+          detections2d: showDetections2d,
+          segmentation: showSegmentation,
+          cuboids3d: showCuboids3d,
+        },
+        perceptionRetryGeneration,
+        lockPerceptionCameraInteraction: unifiedPerception,
+      })
+    : liveAcquisitionRerunProfile({
+        sourceUrl,
+        liveActivitySequence: livePresentationActivitySequence,
+        liveStreamId: state?.spatialSource?.id ?? null,
+        liveRecoveryAuthorityIdentity: streamActive
+          ? liveRerunRecoveryAuthorityIdentity(pointCloudSource, state?.spatialSource)
+          : null,
+      });
 
   return (
     <div
@@ -405,7 +434,7 @@ function SpatialWorkspace({
                 variant={detections2dActive ? "primary" : "secondary"}
                 icon={<Icon name="target" />}
                 aria-pressed={detections2dActive}
-                disabled={recordedSource && !recordedPerceptionReady}
+                disabled={recordedPerceptionLoading}
                 onClick={() => recordedSource
                   ? setShowDetections2d((current) => !current)
                   : onLivePerceptionLayersChange({
@@ -420,7 +449,7 @@ function SpatialWorkspace({
                 variant={segmentationActive ? "primary" : "secondary"}
                 icon={<Icon name="image" />}
                 aria-pressed={segmentationActive}
-                disabled={recordedSource && !recordedPerceptionReady}
+                disabled={recordedPerceptionLoading}
                 onClick={() => recordedSource
                   ? setShowSegmentation((current) => !current)
                   : onLivePerceptionLayersChange({
@@ -435,7 +464,7 @@ function SpatialWorkspace({
                 variant={cuboids3dActive ? "primary" : "secondary"}
                 icon={<Icon name="apps" />}
                 aria-pressed={cuboids3dActive}
-                disabled={recordedSource && !recordedPerceptionReady}
+                disabled={recordedPerceptionLoading}
                 onClick={() => recordedSource
                   ? setShowCuboids3d((current) => !current)
                   : onLivePerceptionLayersChange({
@@ -489,35 +518,8 @@ function SpatialWorkspace({
       >
           {sourceUrl.trim() && pointCloudVisible && !intentionalSourceEnd ? (
             <RerunViewport
-              sourceUrl={sourceUrl}
-              recordedArtifact={recordedSource ? recordedReplay : null}
-              followLive={liveRerunSource}
-              liveActivitySequence={livePresentationActivitySequence}
-              liveStreamId={state?.spatialSource?.id}
-              liveRecoveryAuthorityIdentity={!recordedSource && streamActive ? liveRerunRecoveryAuthorityIdentity(pointCloudSource, state?.spatialSource) : null}
-              autoplayWhenReady={recordedSource}
-              presentationGate={recordedSessionGate}
-              expectedTimelineStartSeconds={recordedSource
-                ? state?.observationTimeline?.range?.startSeconds
-                : undefined}
-              expectedTimelineEndSeconds={recordedSource
-                ? state?.observationTimeline?.range?.endSeconds
-                : undefined}
-              initialPlaybackStartSeconds={initialRecordedPlaybackStartSeconds}
+              profile={rerunViewerProfile}
               sceneSettings={sceneSettings}
-              recordedViewResetGeneration={recordedViewResetGeneration}
-              recordedFollowTrajectory={followRecordedTrajectory}
-              recordedPerceptionLayers={{
-                enabled:
-                  recordedPerceptionSupported &&
-                  recordedPerceptionReady &&
-                  recordedPerceptionEnabled,
-                detections2d: showDetections2d,
-                segmentation: showSegmentation,
-                cuboids3d: showCuboids3d,
-              }}
-              recordedPerceptionRetryGeneration={perceptionRetryGeneration}
-              lockPerceptionCameraInteraction={unifiedPerception}
               onPerceptionLoadChange={onPerceptionLoadChange}
               onPointColorLoadChange={onPointColorLoadChange}
               onStatusChange={onStatusChange}
@@ -905,7 +907,7 @@ function CamerasWorkspace({
     if (!recordedReplay) return true;
     if (!recordedSessionAdmission) return false;
     return recordedSessionAdmission.activeCameraSourceIds.has(sourceId) ||
-      recordedSessionAdmission.cameras[sourceId]?.phase === "ready";
+      ["ready", "error"].includes(recordedSessionAdmission.cameras[sourceId]?.phase ?? "loading");
   }, [recordedReplay, recordedSessionAdmission]);
   return (
     <div className="standard-workspace cameras-workspace" data-focused={focusedSource ? "true" : undefined}>
@@ -1166,6 +1168,8 @@ export function WorkspaceRenderer(props: WorkspaceRendererProps) {
       return <TimelineWorkspace {...props} />;
     case "missions":
       return <MissionWorkspace {...props} />;
+    case "vehicles":
+      return <VehiclesWorkspace createRequest={props.fleetCreateRequest} />;
     case "catalog":
       return <CatalogWorkspace {...props} />;
     case "contour-health":
@@ -1191,6 +1195,8 @@ export function WorkspaceRenderer(props: WorkspaceRendererProps) {
       );
     case "simulations":
       return <SimulationWorkspace />;
+    case "observatory":
+      return <ObservatoryWorkspace definition={props.definition} />;
     case "device":
       return null;
   }

apps/control-station/src/workspaces/contracts.ts

@@ -35,6 +35,7 @@ export interface LaboratoryViewAction {
 }
 
 export interface WorkspaceRendererProps {
+  fleetCreateRequest?: number;
   definition: WorkspaceDefinition;
   state: MissionRuntimeState | null;
   backendStatus: BackendStatus;

apps/control-station/src/workspaces/fleet/VehicleSensors.tsx

@@ -0,0 +1,13 @@
+import {useMemo} from 'react';
+import {SensorWorkspace} from '../../../../../packages/sensor-ui/src/SensorWorkspace';
+import type {SensorInventory,SensorTransport} from '../../../../../packages/sensor-ui/src/contracts';
+import {fleetRequest} from '../../core/fleet/useFleet';
+export function VehicleSensors({vehicleID,enabled,onDetailChange}:{vehicleID:string;enabled:boolean;onDetailChange:(open:boolean)=>void}){
+ const transport=useMemo<SensorTransport>(()=>({
+  inventory:async()=>{const fleet=await fleetRequest<{items:{id:string;connectivity:string;sensor_state:SensorInventory}[]}>();const value=fleet.items.find(v=>v.id===vehicleID);if(!value)throw new Error('Аппарат не найден.');return {...value.sensor_state,fresh:value.connectivity==='online'};},
+  subscribe:(receive,unavailable)=>{const events=new EventSource('/api/v1/fleet/events');events.onmessage=e=>{try{const value=JSON.parse(e.data).items.find((v:{id:string})=>v.id===vehicleID);if(value)receive({...value.sensor_state,fresh:value.connectivity==='online'});else unavailable();}catch{unavailable();}};events.onerror=unavailable;return()=>events.close();},
+  submit:value=>fleetRequest(`/${encodeURIComponent(vehicleID)}/devices/operations`,'POST',value),
+  operation:id=>fleetRequest(`/${encodeURIComponent(vehicleID)}/devices/operations/${encodeURIComponent(id)}`),
+ }),[vehicleID]);
+ return <SensorWorkspace key={vehicleID} transport={transport} enabled={enabled} onDetailChange={onDetailChange}/>;
+}

apps/control-station/src/workspaces/fleet/VehiclesWorkspace.tsx

@@ -0,0 +1,69 @@
+import { useEffect, useRef, useState } from "react";
+import { ActivityIndicator, Button, ConfirmationModal, Icon, IconButton, ResourceList, ResourceRow, Select, SettingsCard, StatusBadge, TextAreaField, TextField, Window, WindowFooterActions } from "@nodedc/ui-react";
+import { fleetRequest, useFleet, type FleetPreview, type Vehicle } from "../../core/fleet/useFleet";
+import "./fleet.css";
+import { VehicleSensors } from "./VehicleSensors";
+
+const platforms = [{ value: "ugv", label: "Наземный (UGV)" }, { value: "uav", label: "Воздушный (UAV)" }, { value: "stationary", label: "Стационарный" }, { value: "other", label: "Другой" }];
+const platformLabel = (value: string) => platforms.find(item => item.value === value)?.label ?? value;
+function statusLabel(item: Vehicle) { return item.enrollment === "pending" ? "Подтверждаем привязку" : item.enrollment === "revoked" ? "Доверие отозвано" : item.enrollment === "failed" ? "Привязка не завершена" : item.connectivity === "online" ? "В сети" : "Нет связи"; }
+
+export function VehiclesWorkspace({ createRequest = 0 }: { createRequest?: number }) {
+  const fleet = useFleet();
+  const [adding, setAdding] = useState(false);
+  const [code, setCode] = useState("");
+  const [name, setName] = useState("");
+  const [platform, setPlatform] = useState("ugv");
+  const [preview, setPreview] = useState<FleetPreview | null>(null);
+  const [pending, setPending] = useState(false);
+  const [error, setError] = useState("");
+  const [selected, setSelected] = useState<string | null>(null);
+  const [sensorOpen, setSensorOpen] = useState(false);
+  const [revoking, setRevoking] = useState<Vehicle | null>(null);
+  const lastCreateRequest = useRef(createRequest);
+  useEffect(() => { if (createRequest !== lastCreateRequest.current) { lastCreateRequest.current = createRequest; setAdding(true); setError(""); } }, [createRequest]);
+  function close() { if (pending) return; setAdding(false); setPreview(null); setCode(""); setName(""); setError(""); }
+  async function inspect(event: React.FormEvent) {
+    event.preventDefault(); if (pending) return;
+    setPending(true); setError("");
+    try { const value = await fleetRequest<FleetPreview>("/preview", "POST", { code: code.trim() }); setPreview(value); setName(current => current || value.name); setCode(""); }
+    catch (error) { setError(error instanceof Error ? error.message : "Не удалось проверить приглашение."); }
+    finally { setPending(false); }
+  }
+  async function add() {
+    if (!preview || pending) return;
+    setPending(true); setError("");
+    try {
+      const item = await fleetRequest<Vehicle>("", "POST", { preview_id: preview.preview_id, name: name.trim(), platform });
+      await fleet.refresh(); setSelected(item.id); setAdding(false); setPreview(null); setCode(""); setName("");
+    } catch (error) { setError(error instanceof Error ? error.message : "Не удалось добавить аппарат."); void fleet.refresh().catch(() => undefined); }
+    finally { setPending(false); }
+  }
+  const detail = fleet.items?.find(item => item.id === selected);
+  return <div className="fleet-workspace">
+    {fleet.error && <p role="alert">{fleet.error}</p>}
+    {!adding && error && <p role="alert">{error}</p>}
+    {detail ? <>
+      <div><Button onClick={() => {setSelected(null);setSensorOpen(false);}}>К списку аппаратов</Button></div>
+      {!sensorOpen && <SettingsCard title={detail.name} description={`${platformLabel(detail.platform)} · с бортовым компьютером`} actions={<StatusBadge tone={!fleet.error && detail.enrollment === "paired" && detail.connectivity === "online" ? "success" : "neutral"}>{fleet.error ? "Нет свежих данных" : statusLabel(detail)}</StatusBadge>}>
+        {detail.notice && <p role="status">{detail.notice}</p>}
+        <dl className="fleet-facts"><div><dt>Бортовой компьютер</dt><dd>{detail.node_id}</dd></div>
+          <div><dt>Последняя связь</dt><dd>{detail.last_seen ? new Date(detail.last_seen * 1000).toLocaleString("ru-RU") : "Соединение ещё не получено"}</dd></div>
+          {detail.host && <><div><dt>Имя БК в системе</dt><dd>{detail.host.hostname}</dd></div><div><dt>Операционная система</dt><dd>{detail.host.os}</dd></div><div><dt>Архитектура</dt><dd>{detail.host.architecture}</dd></div><div><dt>Процессоры</dt><dd>{detail.host.cpus}</dd></div><div><dt>Память</dt><dd>{detail.host.memory_kib ? `${(detail.host.memory_kib / 1024 / 1024).toFixed(1)} ГиБ` : "Нет сведений"}</dd></div></>}
+        </dl>
+        {detail.enrollment !== "revoked" && <Button onClick={() => setRevoking(detail)}>Отозвать привязку БК</Button>}
+      </SettingsCard>}
+      <SettingsCard title="Устройства аппарата"><VehicleSensors onDetailChange={setSensorOpen} vehicleID={detail.id} enabled={!fleet.error && detail.enrollment === "paired" && detail.connectivity === "online"} /></SettingsCard>
+    </> : !fleet.items ? <ActivityIndicator label="Получаем аппараты" /> : fleet.items.length === 0 ? <SettingsCard title="Аппаратов пока нет" description="Добавьте аппарат по приглашению из Mission Core Node на его бортовом компьютере."><Button onClick={() => setAdding(true)}>Добавить аппарат</Button></SettingsCard> : <ResourceList aria-label="Аппараты">{fleet.items.map(item => <li key={item.id}><ResourceRow icon={<Icon name="apps" />} title={item.name} description={`${platformLabel(item.platform)} · бортовой компьютер`} status={<StatusBadge tone={!fleet.error && item.enrollment === "paired" && item.connectivity === "online" ? "success" : "neutral"}>{fleet.error ? "Нет свежих данных" : statusLabel(item)}</StatusBadge>} actions={<IconButton label={`Конфигурация: ${item.name}`} onClick={() => setSelected(item.id)}><Icon name="eye" /></IconButton>} /></li>)}</ResourceList>}
+    <Window open={adding} title="Добавить аппарат" subtitle="Подключить бортовой компьютер по приглашению Node" size="md" closeOnBackdrop={false} closeOnEscape={!pending} onClose={close} footer={<WindowFooterActions><Button disabled={pending} onClick={close}>Отмена</Button>{preview ? <Button disabled={pending || !name.trim()} onClick={() => void add()}>{pending ? "Добавляем…" : "Добавить аппарат"}</Button> : <Button type="submit" form="fleet-invitation" disabled={pending || !code.trim()}>{pending ? "Проверяем БК…" : "Проверить БК"}</Button>}</WindowFooterActions>}>
+      <form id="fleet-invitation" className="fleet-form" onSubmit={inspect} aria-busy={pending}>
+        <Select label="Способ подключения" value="node" options={[{ value: "node", label: "С бортовым компьютером" }]} onChange={() => undefined} disabled={pending} />
+        <Select label="Класс аппарата" value={platform} options={platforms} onChange={setPlatform} disabled={pending} />
+        <TextField label="Название аппарата" value={name} maxLength={80} onChange={event => setName(event.target.value)} disabled={pending} autoComplete="off" />
+        {preview ? <SettingsCard title={preview.name} description="Идентичность БК проверена по приглашению"><dl className="fleet-facts"><div><dt>Идентификатор БК</dt><dd>{preview.node_id}</dd></div><div><dt>Система</dt><dd>{preview.host.os} · {preview.host.architecture}</dd></div><div><dt>Адрес БК</dt><dd>{preview.endpoint}</dd></div></dl><Button disabled={pending} onClick={() => setPreview(null)}>Другое приглашение</Button></SettingsCard> : <TextAreaField label="Код приглашения из Node" value={code} rows={5} maxLength={4096} spellCheck={false} autoComplete="off" disabled={pending} onChange={event => setCode(event.target.value)} />}
+        {error && <p role="alert">{error}</p>}
+      </form>
+    </Window>
+    <ConfirmationModal open={revoking !== null} title="Отозвать привязку БК?" description={`Аппарат «${revoking?.name ?? ""}» останется в реестре, а его БК потеряет доступ к Core. БК получит отзыв при следующем соединении.`} confirmLabel="Отозвать" cancelLabel="Отмена" danger onClose={() => setRevoking(null)} onConfirm={async () => { if (!revoking) return; try { await fleetRequest(`/${encodeURIComponent(revoking.id)}`, "DELETE"); await fleet.refresh(); setRevoking(null); } catch (error) { setError(error instanceof Error ? error.message : "Не удалось отозвать привязку."); throw error; } }} />
+  </div>;
+}

apps/control-station/src/workspaces/fleet/fleet.css

@@ -0,0 +1,9 @@
+.fleet-workspace, .fleet-form { display: flex; flex-direction: column; gap: var(--nodedc-space-4); }
+.fleet-workspace { padding: var(--nodedc-space-4); }
+.fleet-facts { display: grid; gap: var(--nodedc-space-3); }
+.fleet-facts > div { display: grid; grid-template-columns: minmax(120px, 1fr) minmax(0, 2fr); gap: var(--nodedc-space-3); }
+.fleet-facts dd { margin: 0; overflow-wrap: anywhere; }
+
+.fleet-facts { font-size: var(--nodedc-font-size-sm); line-height: 1.5; }
+.fleet-facts dt { color: var(--nodedc-text-secondary); }
+.fleet-facts dd { color: var(--nodedc-text-muted); }

apps/control-station/src/workspaces/laboratory/AdvancedLaboratoryResult.tsx

@@ -51,6 +51,7 @@ import { M48TRiskQualityResultView } from "./M48TRiskQualityResult";
 import { M49TgsFailClosedResultView } from "./M49TgsFailClosedResult";
 import { M49TgsFullShadowResultView } from "./M49TgsFullShadowResult";
 import { VegetationShadowResultView } from "./VegetationShadowResult";
+import { VegetationBenchmarkResultView } from "./VegetationBenchmarkResult";
 
 export { isAdvancedLaboratoryWorkId };
 export type { AdvancedLaboratoryWorkId };
@@ -93,6 +94,9 @@ export function AdvancedLaboratoryResult({
   failedSessionId: string | null;
   replayError: string | null;
 }) {
+  if (workId === "lab-v1-vegetation-benchmark" && results.vegetationBenchmark) {
+    return <VegetationBenchmarkResultView rigLabel={rigLabel} result={results.vegetationBenchmark} />;
+  }
   if (workId === "lab-v1-vegetation-shadow" && results.vegetationShadow) {
     return <VegetationShadowResultView rigLabel={rigLabel} result={results.vegetationShadow} />;
   }

apps/control-station/src/workspaces/laboratory/CanonicalVegetationRerunReplay.tsx

@@ -0,0 +1 @@
+export { CanonicalVegetationRerunReplay } from "../../components/laboratory/CanonicalVegetationRerunReplay";

apps/control-station/src/workspaces/laboratory/LaboratoryArchiveWorkspace.tsx

@@ -54,6 +54,7 @@ import {
   buildLaboratoryProfiles,
   experimentOptionsForProfile,
   freshestLaboratorySelection,
+  isLegacyPublishedLaboratoryWork,
   workOptionsForExperiment,
 } from "./laboratoryArchiveProfiles";
 import {
@@ -499,12 +500,7 @@ export function LaboratoryArchiveWorkspace(props: LaboratoryWorkspaceProps) {
     onDeleteBegin: props.sessionArchive.onDeleteBegin,
   });
   const publishedWorks = useMemo(
-    () => sessions.items.filter((session) => (
-      session.lab !== null
-      && session.status === "ready"
-      && session.replayable
-      && session.modalities.includes("point-cloud")
-    )).sort((left, right) => (
+    () => sessions.items.filter(isLegacyPublishedLaboratoryWork).sort((left, right) => (
       Date.parse(right.lab?.runCreatedAtUtc ?? right.startedAtUtc)
       - Date.parse(left.lab?.runCreatedAtUtc ?? left.startedAtUtc)
     )),

apps/control-station/src/workspaces/laboratory/M49TgsFullShadowEvidence.tsx

@@ -22,6 +22,7 @@ import {
 import {
   M4ReplayThreatVisual,
   type M4ReplayClassifiedSpatialFrame,
+  type M4ReplayThreatSemanticLayer,
 } from "./M4ReplayThreatVisual";
 
 const CLASSES: readonly RecordedEvidenceSemanticClass[] = [
@@ -42,7 +43,15 @@ function message(error: unknown): string {
     : "Полный TGS spatial frame недоступен.";
 }
 
-export function M49TgsFullShadowEvidence({ result }: { result: M49TgsFullShadowResult }) {
+export function M49TgsFullShadowEvidence({
+  result,
+  semanticOverride,
+  evidenceLabel = "M49 · full TGS shadow",
+}: {
+  result: M49TgsFullShadowResult;
+  semanticOverride?: M4ReplayThreatSemanticLayer;
+  evidenceLabel?: string;
+}) {
   const [activeSequence, setActiveSequence] = useState<number | null>(null);
   const [semantic, setSemantic] = useState<E47SemanticSlamResult | null>(null);
   const [semanticError, setSemanticError] = useState<string | null>(null);
@@ -191,18 +200,43 @@ export function M49TgsFullShadowEvidence({ result }: { result: M49TgsFullShadowR
   const handleSequenceChange = useCallback((sequence: number | null) => {
     setActiveSequence(sequence);
   }, []);
+  const semanticLayers = useMemo<readonly M4ReplayThreatSemanticLayer[]>(() => [
+    ...(semantic ? [{
+      id: "urban",
+      controlLabel: "ГОРОД · EoMT",
+      resultId: semantic.resultId,
+      taxonomy: semantic.taxonomy,
+      label: "EoMT Cityscapes semantic · recorded video",
+      maskAriaLabel: "EoMT urban semantic prediction",
+    }] : []),
+    ...(semanticOverride ? [{
+      ...semanticOverride,
+      id: semanticOverride.id ?? "vegetation",
+      controlLabel: semanticOverride.controlLabel ?? "ПРИРОДА · DDRNet",
+    }] : []),
+  ], [semantic, semanticOverride]);
+  const spatialSemantic = useMemo<M4ReplayThreatSemanticLayer | undefined>(() => (
+    semantic ? {
+      id: "spatial-urban",
+      controlLabel: "SEMANTICS",
+      resultId: semantic.resultId,
+      spatialResultId: semantic.resultId,
+      taxonomy: semantic.taxonomy,
+      label: "EoMT Cityscapes semantic · point-aligned E47",
+      maskAriaLabel: "EoMT urban semantic prediction",
+    } : undefined
+  ), [semantic]);
 
   return (
     <>
       <M4ReplayThreatVisual
         resultId={result.source.linkedVisualResultId}
-        semantic={semantic ? {
-          resultId: semantic.resultId,
-          taxonomy: semantic.taxonomy,
-        } : undefined}
+        semanticLayers={semanticLayers}
+        spatialSemantic={spatialSemantic}
+        initialSemanticLayerId={semanticOverride ? "vegetation" : "urban"}
         showReviewAnchorBoxes={false}
         reviewLabel="4 489 source-paced TGS frames"
-        evidenceLabel="M49 · full TGS shadow"
+        evidenceLabel={evidenceLabel}
         initialSpatialMode="3d"
         onActiveSequenceChange={handleSequenceChange}
         classifiedSpatialLayer={{

apps/control-station/src/workspaces/laboratory/M4ReplayThreatVisual.tsx

@@ -1,15 +1,25 @@
-import { useCallback, useEffect, useMemo, useRef, useState, type CSSProperties } from "react";
+import {
+  useCallback,
+  useEffect,
+  useMemo,
+  useRef,
+  useState,
+  type CSSProperties,
+  type ReactNode,
+} from "react";
 import {
   Button,
   Icon,
   IconButton,
   Select,
   SegmentedControl,
-  SplitPane,
-  type SplitPaneOrientation,
 } from "@nodedc/ui-react";
 
 import { ObservationTimeline } from "../../components/ObservationTimeline";
+import {
+  CanonicalRecordedLabReplay,
+  useCanonicalRecordedLabReplayState,
+} from "../../components/laboratory/CanonicalRecordedLabReplay";
 import {
   LaboratoryMetricEvidenceScene,
   type LaboratoryMetricCellEvidence,
@@ -35,6 +45,7 @@ import {
   type E47SemanticClass,
   type E47SemanticTimelineFrame,
 } from "../../core/laboratory/e47SemanticSlam";
+import { laboratoryRecordedEvidenceDemand } from "../../core/laboratory/recordedEvidenceProfile";
 import type {
   M4ThreatCameraProposal,
   M4ThreatTimelineFrame,
@@ -52,8 +63,6 @@ import { useE47SemanticTimelineFrame } from "./useE47SemanticTimeline";
 import { buildM4StaticObstacleBoxes } from "./m4StaticObstacleBoxes";
 
 type M4ThreatMediaMode = "video" | "camera";
-type M4ThreatMediaSelection = M4ThreatMediaMode | "none";
-type M4ThreatSpatialSelection = LaboratoryMetricSceneMode | "none";
 
 function toneForProposal(proposal: M4ThreatCameraProposal): RecordedEvidenceBox["tone"] {
   if (proposal.threatDecision === "threat") return "danger";
@@ -96,6 +105,8 @@ function SpatialState({ message: text }: { message: string }) {
 }
 
 export interface M4ReplayThreatSemanticLayer {
+  id?: string;
+  controlLabel?: string;
   resultId: string;
   spatialResultId?: string | null;
   maskUrl?: (sequence: number) => string;
@@ -142,6 +153,7 @@ export interface M4ReplayClassifiedSpatialLayer {
   label: string;
   pointLayerLabel: string;
   cellLayerLabel: string;
+  cellLayerAvailable?: boolean;
   expectedAtSequence: boolean;
   frame: M4ReplayClassifiedSpatialFrame | null;
   loading: boolean;
@@ -155,6 +167,9 @@ const EMPTY_REVIEW_ANCHORS: readonly M4ReplayThreatReviewAnchor[] = [];
 export function M4ReplayThreatVisual({
   resultId,
   semantic,
+  semanticLayers,
+  spatialSemantic,
+  initialSemanticLayerId,
   reviewAnchors = EMPTY_REVIEW_ANCHORS,
   showReviewAnchorBoxes = true,
   reviewLabel = "Контрольные примеры M4.8R1",
@@ -164,10 +179,16 @@ export function M4ReplayThreatVisual({
   classifiedSpatialLayer,
   showReferenceMediaLayers = true,
   showSpatialOverlaySummary = true,
+  playbackTransport = "epoch-stream",
+  spatialPlaybackTransport = "auto",
+  recoverTimestampStalls = false,
   onActiveSequenceChange,
 }: {
   resultId: string;
   semantic?: M4ReplayThreatSemanticLayer;
+  semanticLayers?: readonly M4ReplayThreatSemanticLayer[];
+  spatialSemantic?: M4ReplayThreatSemanticLayer;
+  initialSemanticLayerId?: string;
   reviewAnchors?: readonly M4ReplayThreatReviewAnchor[];
   showReviewAnchorBoxes?: boolean;
   reviewLabel?: string;
@@ -177,12 +198,26 @@ export function M4ReplayThreatVisual({
   classifiedSpatialLayer?: M4ReplayClassifiedSpatialLayer;
   showReferenceMediaLayers?: boolean;
   showSpatialOverlaySummary?: boolean;
+  playbackTransport?: "segmented" | "epoch-stream";
+  spatialPlaybackTransport?: "auto" | "sealed-binary" | "json";
+  recoverTimestampStalls?: boolean;
   onActiveSequenceChange?: (sequence: number | null) => void;
 }) {
-  const [mediaMode, setMediaMode] = useState<M4ThreatMediaMode | null>("video");
-  const [spatialMode, setSpatialMode] = useState<LaboratoryMetricSceneMode | null>(
+  const {
+    mediaMode,
+    spatialMode,
+    splitView,
+    splitPrimarySize,
+    splitOrientation,
+    expanded,
+    onMediaModeChange: handleMediaModeChange,
+    onSpatialModeChange: handleSpatialModeChange,
+    onSplitPrimarySizeChange: setSplitPrimarySize,
+    onExpandedChange: setExpanded,
+  } = useCanonicalRecordedLabReplayState<M4ThreatMediaMode, LaboratoryMetricSceneMode>({
+    initialMediaMode: "video",
     initialSpatialMode,
-  );
+  });
   const [showCurrentIncrement, setShowCurrentIncrement] = useState(true);
   const [showLocalSurface, setShowLocalSurface] = useState(true);
   const [showRollingMap, setShowRollingMap] = useState(true);
@@ -191,14 +226,58 @@ export function M4ReplayThreatVisual({
   const [showSpatialSemantic, setShowSpatialSemantic] = useState(true);
   const [showMediaPoints, setShowMediaPoints] = useState(false);
   const [showStaticObstacles, setShowStaticObstacles] = useState(true);
-  const [splitPrimarySize, setSplitPrimarySize] = useState(50);
-  const [splitOrientation, setSplitOrientation] = useState<SplitPaneOrientation>(() => (
-    typeof window !== "undefined" && window.matchMedia("(max-width: 900px)").matches
-      ? "horizontal"
-      : "vertical"
-  ));
-  const [expanded, setExpanded] = useState(false);
   const [selectedReviewAnchorIndex, setSelectedReviewAnchorIndex] = useState(0);
+  const availableSemanticLayers = useMemo<readonly M4ReplayThreatSemanticLayer[]>(
+    () => semanticLayers?.length ? semanticLayers : semantic ? [semantic] : [],
+    [semantic, semanticLayers],
+  );
+  const semanticLayerIdentity = availableSemanticLayers
+    .map((layer, index) => layer.id ?? `${layer.resultId}:${index}`)
+    .join("|");
+  const [selectedSemanticLayerId, setSelectedSemanticLayerId] = useState(
+    initialSemanticLayerId ?? "",
+  );
+  useEffect(() => {
+    if (!availableSemanticLayers.length) {
+      setSelectedSemanticLayerId("");
+      return;
+    }
+    const selectedStillExists = availableSemanticLayers.some(
+      (layer, index) => (layer.id ?? `${layer.resultId}:${index}`) === selectedSemanticLayerId,
+    );
+    if (selectedStillExists) return;
+    const preferred = initialSemanticLayerId
+      ? availableSemanticLayers.find((layer) => layer.id === initialSemanticLayerId)
+      : null;
+    const next = preferred ?? availableSemanticLayers[0]!;
+    const nextIndex = availableSemanticLayers.indexOf(next);
+    setSelectedSemanticLayerId(next.id ?? `${next.resultId}:${nextIndex}`);
+  }, [availableSemanticLayers, initialSemanticLayerId, semanticLayerIdentity, selectedSemanticLayerId]);
+  const activeSemantic = availableSemanticLayers.find(
+    (layer, index) => (layer.id ?? `${layer.resultId}:${index}`) === selectedSemanticLayerId,
+  ) ?? availableSemanticLayers[0];
+  const activeSpatialSemantic = spatialSemantic ?? activeSemantic;
+  const evidenceDemand = useMemo(() => laboratoryRecordedEvidenceDemand({
+    mediaMode,
+    spatialMode,
+    showMediaSemantic: Boolean(activeSemantic) && showMediaSemantic,
+    showSpatialSemantic: Boolean(activeSpatialSemantic) && showSpatialSemantic,
+    showMediaPoints,
+    classifiedSpatialMode: !classifiedSpatialLayer || classifiedSpatialLayer.cellLayerAvailable === false
+      ? "none"
+      : classifiedSpatialLayer.replacePointCloud
+        ? "replace-source"
+        : "overlay",
+  }), [
+    activeSemantic,
+    activeSpatialSemantic,
+    classifiedSpatialLayer,
+    mediaMode,
+    showMediaPoints,
+    showMediaSemantic,
+    showSpatialSemantic,
+    spatialMode,
+  ]);
   const metricSceneRef = useRef<LaboratoryMetricEvidenceSceneHandle | null>(null);
   const metadata = useM4ThreatTimelineMetadata(resultId, timelineEndpointRoot);
   const playbackRange = useMemo(() => metadata.timeline ? ({
@@ -206,7 +285,7 @@ export function M4ReplayThreatVisual({
     endSeconds: metadata.timeline.timelineEndSeconds,
   }) : null, [metadata.timeline]);
   const playbackController = useRecordedEvidencePlayback(playbackRange, {
-    clock: mediaMode === "video" ? "external" : "animation",
+    clock: "external",
   });
   const seekPlayback = playbackController.seek;
   const setPlaybackPlaying = playbackController.setPlaying;
@@ -214,7 +293,9 @@ export function M4ReplayThreatVisual({
     resultId,
     timeline: metadata.timeline,
     currentSeconds: playbackController.playback.currentSeconds,
+    includeSpatialPoints: evidenceDemand.sourceSpatialPoints,
     endpointRoot: timelineEndpointRoot,
+    spatialPlaybackTransport,
   });
   const [videoSource, setVideoSource] = useState<ObservationSourceDescriptor | null>(null);
   const [videoLoading, setVideoLoading] = useState(false);
@@ -225,16 +306,12 @@ export function M4ReplayThreatVisual({
     setVideoError(null);
   }, [resultId]);
 
-  useEffect(() => {
-    const query = window.matchMedia("(max-width: 900px)");
-    const update = () => setSplitOrientation(query.matches ? "horizontal" : "vertical");
-    update();
-    query.addEventListener("change", update);
-    return () => query.removeEventListener("change", update);
-  }, []);
-
   useEffect(() => {
     const timeline = metadata.timeline;
+    if (!evidenceDemand.recordedVideo) {
+      setVideoLoading(false);
+      return;
+    }
     if (!timeline || videoSource) return;
     const controller = new AbortController();
     setVideoLoading(true);
@@ -269,7 +346,7 @@ export function M4ReplayThreatVisual({
         if (!controller.signal.aborted) setVideoLoading(false);
       });
     return () => controller.abort();
-  }, [metadata.timeline, videoSource]);
+  }, [evidenceDemand.recordedVideo, metadata.timeline, videoSource]);
 
   const lastFrameRef = useRef<M4ThreatTimelineFrame | null>(null);
   useEffect(() => {
@@ -284,39 +361,53 @@ export function M4ReplayThreatVisual({
     resultId: string;
     frame: M4ThreatTimelineFrame;
   } | null>(null);
-  if (frame?.spatialAvailable) {
-    lastSpatialFrameRef.current = { resultId, frame };
+  useEffect(() => {
+    lastSpatialFrameRef.current = null;
+  }, [evidenceDemand.sourceSpatialPoints, resultId]);
+  const latestAvailableSpatialFrame = [...timelineFrame.availableFrames]
+    .reverse()
+    .find((candidate) => (
+      candidate.spatialAvailable
+      && (timelineFrame.activeSequence === null
+        || candidate.sequence <= timelineFrame.activeSequence)
+    )) ?? null;
+  const currentSpatialFrame = frame?.spatialAvailable ? frame : latestAvailableSpatialFrame;
+  if (currentSpatialFrame) {
+    lastSpatialFrameRef.current = { resultId, frame: currentSpatialFrame };
   }
-  const spatialFrame = frame?.spatialAvailable
-    ? frame
+  const spatialFrame = currentSpatialFrame
+    ? currentSpatialFrame
     : lastSpatialFrameRef.current?.resultId === resultId
       ? lastSpatialFrameRef.current.frame
       : null;
   const cameraPointOverlay = useM4ThreatCameraPointOverlay({
-    enabled: showReferenceMediaLayers && showMediaPoints,
+    enabled: showReferenceMediaLayers && evidenceDemand.cameraPointOverlay,
     resultId,
     sequence: frame?.sequence ?? null,
     endpointRoot: timelineEndpointRoot,
   });
-  const semanticSpatialResultId = semantic
-    ? semantic.spatialResultId === undefined ? semantic.resultId : semantic.spatialResultId
+  const semanticSpatialResultId = activeSpatialSemantic
+    ? activeSpatialSemantic.spatialResultId === undefined
+      ? activeSpatialSemantic.resultId
+      : activeSpatialSemantic.spatialResultId
     : null;
   const spatialSemanticTaxonomy = useMemo<readonly E47SemanticClass[]>(
-    () => semanticSpatialResultId && semantic
-      ? semantic.taxonomy.map((item) => ({
+    () => semanticSpatialResultId && activeSpatialSemantic
+      ? activeSpatialSemantic.taxonomy.map((item) => ({
           classId: item.classId,
           label: item.label,
           disposition: item.disposition === "ambiguous" ? "ambiguous" : "labeled",
           colorRgb: item.colorRgb,
         }))
       : [],
-    [semantic, semanticSpatialResultId],
+    [activeSpatialSemantic, semanticSpatialResultId],
   );
   const semanticTimeline = useE47SemanticTimelineFrame({
     resultId: semanticSpatialResultId,
     activeSequence: frame?.sequence ?? timelineFrame.activeSequence,
     frameCount: metadata.timeline?.frameCount ?? 0,
     taxonomy: spatialSemanticTaxonomy,
+    enabled: evidenceDemand.selectedSemanticPoints,
   });
   const displayingBufferedFrame = Boolean(
     frame
@@ -378,22 +469,22 @@ export function M4ReplayThreatVisual({
     );
   }, [frame, metadata.timeline, showReferenceMediaLayers, showStaticObstacles]);
   const activeBoxes = useMemo(
-    () => classifiedSpatialLayer || !showReferenceMediaLayers ? [] : [
+    () => !showReferenceMediaLayers ? [] : [
       ...boxes(frame?.cameraProposals ?? []),
       ...staticObstacleBoxes,
       ...reviewAnchorBoxes,
     ],
-    [classifiedSpatialLayer, frame, reviewAnchorBoxes, showReferenceMediaLayers, staticObstacleBoxes],
+    [frame, reviewAnchorBoxes, showReferenceMediaLayers, staticObstacleBoxes],
   );
   const semanticClasses = useMemo<readonly RecordedEvidenceSemanticClass[]>(
-    () => semantic?.taxonomy.map((item) => ({
+    () => activeSemantic?.taxonomy.map((item) => ({
       id: item.classId,
       label: `semantic: ${item.label}`,
     })) ?? [],
-    [semantic?.taxonomy],
+    [activeSemantic?.taxonomy],
   );
   const semanticPalette = useMemo<readonly RecordedEvidenceSemanticPaletteEntry[]>(
-    () => semantic?.taxonomy.map((item) => ({
+    () => activeSemantic?.taxonomy.map((item) => ({
       classId: item.classId,
       color: item.disposition === "undefined"
         ? { kind: "transparent" as const }
@@ -404,7 +495,28 @@ export function M4ReplayThreatVisual({
         ? 0
         : item.disposition === "ambiguous" ? 0.52 : 0.92,
     })) ?? [],
-    [semantic?.taxonomy],
+    [activeSemantic?.taxonomy],
+  );
+  const spatialSemanticClasses = useMemo<readonly RecordedEvidenceSemanticClass[]>(
+    () => activeSpatialSemantic?.taxonomy.map((item) => ({
+      id: item.classId,
+      label: `semantic: ${item.label}`,
+    })) ?? [],
+    [activeSpatialSemantic?.taxonomy],
+  );
+  const spatialSemanticPalette = useMemo<readonly RecordedEvidenceSemanticPaletteEntry[]>(
+    () => activeSpatialSemantic?.taxonomy.map((item) => ({
+      classId: item.classId,
+      color: item.disposition === "undefined"
+        ? { kind: "transparent" as const }
+        : item.disposition === "ambiguous"
+        ? { kind: "token" as const, token: "--nodedc-warning-rgb" as const }
+        : { kind: "diagnostic" as const, rgb: item.colorRgb },
+      opacity: item.disposition === "undefined"
+        ? 0
+        : item.disposition === "ambiguous" ? 0.52 : 0.92,
+    })) ?? [],
+    [activeSpatialSemantic?.taxonomy],
   );
   const semanticFrame = semanticTimeline.activeFrame?.sequence === frame?.sequence
     ? semanticTimeline.activeFrame
@@ -422,7 +534,7 @@ export function M4ReplayThreatVisual({
       && lastSpatialSemanticFrameRef.current.frame.sequence === spatialFrame?.sequence
       ? lastSpatialSemanticFrameRef.current.frame
       : null;
-  const semanticIntegrityError = semantic && spatialFrame && spatialSemanticFrame && (
+  const semanticIntegrityError = activeSpatialSemantic && spatialFrame && spatialSemanticFrame && (
     spatialSemanticFrame.sourcePointCount !== spatialFrame.pointCloudSourceCount
     || spatialFrame.pointCloudSampleCount !== spatialFrame.pointCloudSourceCount
     || spatialFrame.pointCloudBodyXyzM.length !== spatialFrame.pointCloudSourceCount
@@ -431,7 +543,7 @@ export function M4ReplayThreatVisual({
     : null;
   const alignedSemanticPointIds = useMemo<readonly (number | null)[] | undefined>(() => {
     if (
-      !semantic
+      !activeSpatialSemantic
       || !showSpatialSemantic
       || !spatialFrame
       || !spatialSemanticFrame
@@ -441,18 +553,24 @@ export function M4ReplayThreatVisual({
       const status = spatialSemanticFrame.statusCodes[index];
       return status === 2 || status === 3 ? classId : null;
     });
-  }, [semantic, semanticIntegrityError, showSpatialSemantic, spatialFrame, spatialSemanticFrame]);
+  }, [activeSpatialSemantic, semanticIntegrityError, showSpatialSemantic, spatialFrame, spatialSemanticFrame]);
   const activeSpatialFrame = spatialFrame?.sequence === timelineFrame.activeSequence
     ? spatialFrame
     : null;
-  const classifiedSpatialFrame = classifiedSpatialLayer?.frame?.sourceSequence === timelineFrame.activeSequence
+  const hasClassifiedSpatialOutput = Boolean(
+    classifiedSpatialLayer && classifiedSpatialLayer.cellLayerAvailable !== false,
+  );
+  const classifiedSpatialFrame = hasClassifiedSpatialOutput
+    && classifiedSpatialLayer?.frame?.sourceSequence === timelineFrame.activeSequence
     ? classifiedSpatialLayer?.frame ?? null
     : null;
   const lastClassifiedSpatialFrameRef = useRef<{
     resultId: string;
     frame: M4ReplayClassifiedSpatialFrame;
   } | null>(null);
-  const incomingClassifiedSpatialFrame = classifiedSpatialLayer?.frame ?? null;
+  const incomingClassifiedSpatialFrame = hasClassifiedSpatialOutput
+    ? classifiedSpatialLayer?.frame ?? null
+    : null;
   if (incomingClassifiedSpatialFrame && incomingClassifiedSpatialFrame.sampleAvailable !== false) {
     lastClassifiedSpatialFrameRef.current = { resultId, frame: incomingClassifiedSpatialFrame };
   }
@@ -481,7 +599,9 @@ export function M4ReplayThreatVisual({
         ? spatialFrame
         : null)
     : null;
-  const replaceClassifiedPointCloud = classifiedSpatialLayer?.replacePointCloud ?? true;
+  const replaceClassifiedPointCloud = hasClassifiedSpatialOutput
+    ? classifiedSpatialLayer?.replacePointCloud ?? true
+    : false;
   const nominalSensorHeightM = metadata.timeline?.rig.nominalSensorHeightM ?? 0;
   const mapGravityLocalSensorToBodyGround = useCallback((
     point: readonly [number, number, number],
@@ -599,7 +719,12 @@ export function M4ReplayThreatVisual({
     .map((item) => item.assessment.closestApproachM)
     .filter((value): value is number => value !== null)
     .sort((left, right) => left - right)[0] ?? null;
-  const localSurface = useMemo(() => buildM4LocalSurface(
+  const localSurface = useMemo(() => spatialFrame?.localSlamBodyXyzM?.length ? ({
+    pointsBodyXyzM: spatialFrame.localSlamBodyXyzM,
+    sourceFrameCount: spatialFrame.localSlamSourceFrameCount ?? 0,
+    sourcePointCount: spatialFrame.localSlamSourcePointCount ?? 0,
+    voxelCount: spatialFrame.localSlamBodyXyzM.length,
+  }) : buildM4LocalSurface(
     timelineFrame.availableFrames,
     spatialFrame,
     metadata.timeline?.localSurfaceVisualization ?? {
@@ -610,19 +735,19 @@ export function M4ReplayThreatVisual({
     },
   ), [metadata.timeline, spatialFrame, timelineFrame.availableFrames]);
   const semanticOverlay: RecordedEvidenceSemanticOverlay | undefined =
-    semantic && showMediaSemantic && frame
+    activeSemantic && evidenceDemand.selectedSemanticMask && frame
       ? {
-          src: semantic.maskUrl?.(frame.sequence)
-            ?? e47SemanticMaskUrl(semantic.resultId, frame.sequence),
+          src: activeSemantic.maskUrl?.(frame.sequence)
+            ?? e47SemanticMaskUrl(activeSemantic.resultId, frame.sequence),
           prefetchSrcs: Array.from({ length: 12 }, (_, index) => index + 1)
             .map((offset) => frame.sequence + offset)
             .filter((sequence) => sequence < (metadata.timeline?.frameCount ?? 0))
-            .map((sequence) => semantic.maskUrl?.(sequence)
-              ?? e47SemanticMaskUrl(semantic.resultId, sequence)),
+            .map((sequence) => activeSemantic.maskUrl?.(sequence)
+              ?? e47SemanticMaskUrl(activeSemantic.resultId, sequence)),
           classes: semanticClasses,
           palette: semanticPalette,
           opacity: 0.9,
-          ariaLabel: `${semantic.maskAriaLabel ?? "Semantic prediction"} frame ${frame.sequence + 1}`,
+          ariaLabel: `${activeSemantic.maskAriaLabel ?? "Semantic prediction"} frame ${frame.sequence + 1}`,
         }
       : undefined;
   const accumulatedCameraPoints = cameraPointOverlay.overlay?.sequence === frame?.sequence
@@ -647,52 +772,17 @@ export function M4ReplayThreatVisual({
           }
         : undefined;
 
-  const handleMediaModeChange = (next: M4ThreatMediaSelection) => {
-    if (next === "none") return;
-    setMediaMode((current) => current === next ? null : next);
-  };
-  const handleSpatialModeChange = (next: M4ThreatSpatialSelection) => {
-    if (next === "none") return;
-    setSpatialMode((current) => current === next ? null : next);
-  };
-
   useEffect(() => {
-    if (playbackController.playback.playing || !frame) return;
+    if (
+      playbackController.playback.playing
+      || !evidenceDemand.exactCameraFrame
+      || !frame
+    ) return;
     const image = new Image();
     image.src = frame.cameraUrl;
-  }, [frame?.cameraUrl, playbackController.playback.playing]);
+  }, [evidenceDemand.exactCameraFrame, frame?.cameraUrl, playbackController.playback.playing]);
 
-  const splitView = mediaMode !== null && spatialMode !== null;
-
-  const mediaModeControls = (
-    <div className="m4-replay-threat-visual__pane-mode-controls" data-pane-mode="media">
-      <SegmentedControl
-        value={mediaMode ?? "none"}
-        items={[
-          { value: "video", label: "VIDEO" },
-          { value: "camera", label: "CAMERA" },
-        ]}
-        label="Видео и камера"
-        onChange={handleMediaModeChange}
-      />
-    </div>
-  );
-
-  const spatialModeControls = (
-    <div className="m4-replay-threat-visual__pane-mode-controls" data-pane-mode="spatial">
-      <SegmentedControl
-        value={spatialMode ?? "none"}
-        items={[
-          { value: "3d", label: "3D" },
-          { value: "plan", label: "PLAN" },
-        ]}
-        label="3D и план"
-        onChange={handleSpatialModeChange}
-      />
-    </div>
-  );
-
-  const mediaLayerControls = semantic
+  const mediaLayerControls = activeSemantic
     || (showReferenceMediaLayers && metadata.timeline?.cameraPointDelivery)
     || (showReferenceMediaLayers && metadata.timeline?.cameraObstacleProjectionDelivery) ? (
     <div
@@ -700,7 +790,7 @@ export function M4ReplayThreatVisual({
       role="group"
       aria-label="Слои камеры и видео"
     >
-      {semantic ? (
+      {activeSemantic ? (
         <Button
           size="compact"
           shape="pill"
@@ -711,6 +801,20 @@ export function M4ReplayThreatVisual({
           SEMANTICS
         </Button>
       ) : null}
+      {availableSemanticLayers.length > 1 ? (
+        <SegmentedControl
+          value={selectedSemanticLayerId}
+          items={availableSemanticLayers.map((layer, index) => ({
+            value: layer.id ?? `${layer.resultId}:${index}`,
+            label: layer.controlLabel ?? layer.label ?? `SEMANTIC ${index + 1}`,
+          }))}
+          label="Источник семантики"
+          onChange={(value) => {
+            setSelectedSemanticLayerId(value);
+            setShowMediaSemantic(true);
+          }}
+        />
+      ) : null}
       {showReferenceMediaLayers && metadata.timeline?.cameraPointDelivery ? (
         <Button
           size="compact"
@@ -768,16 +872,24 @@ export function M4ReplayThreatVisual({
         shape="pill"
         variant={showRollingMap ? "primary" : "secondary"}
         aria-pressed={showRollingMap}
+        disabled={classifiedSpatialLayer.cellLayerAvailable === false}
+        title={classifiedSpatialLayer.cellLayerAvailable === false
+          ? `${classifiedSpatialLayer.cellLayerLabel} недоступен: для этой записи нет запечатанного полного результата`
+          : undefined}
         onClick={() => setShowRollingMap((visible) => !visible)}
       >
         {classifiedSpatialLayer.cellLayerLabel}
       </Button>
-      {semanticSpatialResultId ? (
+      {activeSpatialSemantic ? (
         <Button
           size="compact"
           shape="pill"
           variant={showSpatialSemantic ? "primary" : "secondary"}
           aria-pressed={showSpatialSemantic}
+          disabled={!semanticSpatialResultId}
+          title={semanticSpatialResultId
+            ? "Point-aligned semantic evidence"
+            : "Point-aligned 3D semantics отсутствует в запечатанном результате"}
           onClick={() => setShowSpatialSemantic((visible) => !visible)}
         >
           SEMANTICS
@@ -830,12 +942,16 @@ export function M4ReplayThreatVisual({
           LOW-STEP
         </Button>
       ) : null}
-      {semanticSpatialResultId ? (
+      {activeSpatialSemantic ? (
         <Button
           size="compact"
           shape="pill"
           variant={showSpatialSemantic ? "primary" : "secondary"}
           aria-pressed={showSpatialSemantic}
+          disabled={!semanticSpatialResultId}
+          title={semanticSpatialResultId
+            ? "Point-aligned semantic evidence"
+            : "Point-aligned 3D semantics отсутствует в запечатанном результате"}
           onClick={() => setShowSpatialSemantic((visible) => !visible)}
         >
           SEMANTICS
@@ -939,14 +1055,14 @@ export function M4ReplayThreatVisual({
         <>
           <div>
             <span>Spatial evidence</span>
-            <strong>{classifiedSpatialLayer
+            <strong>{hasClassifiedSpatialOutput
           ? classifiedSpatialFrame
             ? replaceClassifiedPointCloud
               ? `${classifiedSpatialFrame.pointsMapGravityLocalXyzM.length.toLocaleString("ru-RU")} TGS points · ${classifiedCellCount.toLocaleString("ru-RU")} cells`
               : `${(activeSpatialFrame?.pointCloudSourceCount ?? classifiedSpatialFrame.sourcePointCount ?? 0).toLocaleString("ru-RU")} source points · ${classifiedCellCount.toLocaleString("ru-RU")} TGS cells`
             : "TGS spatial buffer"
           : `${currentIncrementObstacles.length} current · ${rollingMapObstacles.length} rolling${metadata.timeline.occupancyProvenanceDelivery ? ` · ${lowStepObstacles.length} low-step` : ""}`}</strong>
-        <small>{classifiedSpatialLayer
+        <small>{hasClassifiedSpatialOutput
           ? classifiedSpatialFrame
             ? classifiedSpatialFrame.sampleAvailable === false
               ? displayedClassifiedFrameHeld && displayedClassifiedSpatialFrame
@@ -955,9 +1071,9 @@ export function M4ReplayThreatVisual({
               : activeSpatialFrame
                 ? "map-gravity-local · all eligible points accounted · causal rolling 1 s"
                 : "TGS рассчитан · linked source cloud недоступен для этого кадра"
-            : classifiedSpatialLayer.error
-              ?? classifiedSpatialLayer.loadingLabel
-              ?? `Открываем ${classifiedSpatialLayer.label}`
+            : classifiedSpatialLayer?.error
+              ?? classifiedSpatialLayer?.loadingLabel
+              ?? `Открываем ${classifiedSpatialLayer?.label ?? "spatial evidence"}`
           : (
               <>
                 {spatialFrame
@@ -982,13 +1098,13 @@ export function M4ReplayThreatVisual({
             )}</small>
           </div>
           <div>
-            <span>{classifiedSpatialLayer ? "TGS fail-closed" : "Virtual corridor"}</span>
-            <strong>{classifiedSpatialLayer
+            <span>{hasClassifiedSpatialOutput ? "TGS fail-closed" : "Virtual corridor"}</span>
+            <strong>{hasClassifiedSpatialOutput
           ? classifiedSpatialFrame
             ? `${classifiedCellCounts.occupied} occupied · ${classifiedCellCounts.rejected} rejected · ${classifiedCellCounts.unobserved} unobserved`
-            : classifiedSpatialLayer.loading || displayingBufferedFrame ? "loading" : "unavailable"
+            : classifiedSpatialLayer?.loading || displayingBufferedFrame ? "loading" : "unavailable"
           : `${spatialFrame?.decisionCounts.threat ?? 0} threat · nearest ${nearest === null ? "—" : `${nearest.toFixed(2)} м`}`}</strong>
-        <small>{classifiedSpatialLayer
+        <small>{hasClassifiedSpatialOutput
           ? classifiedSpatialFrame
             ? `${classifiedCellCounts.ground} ground-support · visual review only · navigation authority OFF`
             : "visual review only · navigation authority OFF"
@@ -1000,7 +1116,12 @@ export function M4ReplayThreatVisual({
   ) : undefined;
 
   const timeline = metadata.timeline;
-  let content;
+  let content: ReactNode = null;
+  let canonicalContent: {
+    mediaContent: ReactNode;
+    spatialContent: ReactNode;
+    deckOverlays: ReactNode;
+  } | null = null;
   if (metadata.error) {
     content = <SpatialState message={metadata.error} />;
   } else if (!timeline) {
@@ -1011,22 +1132,8 @@ export function M4ReplayThreatVisual({
       </div>
     );
   } else {
-    const mediaPane = (
-      <section
-        className="m4-replay-threat-visual__pane"
-        data-pane="media"
-        aria-label={mediaMode === "camera" ? "Камера" : "Видео"}
-        hidden={!mediaMode}
-      >
-        {splitView ? (
-          <div
-            className="m4-replay-threat-visual__pane-toolbar"
-            data-pane-toolbar="media"
-          >
-            {mediaLayerControls}
-            {mediaModeControls}
-          </div>
-        ) : null}
+    const mediaContent = (
+      <>
         <div
           className="m4-replay-threat-visual__media-layer"
           data-media="video"
@@ -1039,6 +1146,7 @@ export function M4ReplayThreatVisual({
                 imageWidth={timeline.imageWidth}
                 imageHeight={timeline.imageHeight}
                 boxes={activeBoxes}
+                overlaySeconds={frame?.sessionSeconds}
                 semanticOverlay={mediaMode === "video" ? semanticOverlay : undefined}
                 pointCloudOverlay={mediaMode === "video" ? pointCloudOverlay : undefined}
                 ariaLabel={`${evidenceLabel} recorded-realtime frame ${frame?.sequence ?? 0}: ${activeBoxes.length} proposals`}
@@ -1050,7 +1158,9 @@ export function M4ReplayThreatVisual({
                 }
                 segmentCount={timeline.frameCount}
                 onPlaybackChange={playbackController.synchronize}
-                onPlayingRejected={() => playbackController.setPlaying(false)}
+                playbackAuthority="media"
+                playbackTransport={playbackTransport}
+                recoverTimestampStalls={recoverTimestampStalls}
               />
             ) : videoError ? (
               <SpatialState message={videoError} />
@@ -1072,34 +1182,20 @@ export function M4ReplayThreatVisual({
             ariaLabel={`${evidenceLabel} exact camera frame ${frame.sequence}: ${activeBoxes.length} proposals`}
           />
         ) : null}
-      </section>
+      </>
     );
 
-    const spatialPane = spatialMode ? (
-      <section
-        className="m4-replay-threat-visual__pane"
-        data-pane="spatial"
-        aria-label={spatialMode === "3d" ? "Трёхмерная сцена" : "Вид сверху"}
-      >
-        {splitView ? (
-          <div
-            className="m4-replay-threat-visual__pane-toolbar"
-            data-pane-toolbar="spatial"
-          >
-            {resetSpatialView}
-            <div className="m4-replay-threat-visual__spatial-toolbar-end">
-              {spatialLayerControls}
-              {spatialModeControls}
-            </div>
-          </div>
-        ) : null}
+    const spatialContent = spatialMode ? (
+      <>
         <LaboratoryMetricEvidenceScene
           ref={metricSceneRef}
           pointCloudBodyXyzM={displayedClassifiedSpatialFrame && replaceClassifiedPointCloud
             ? classifiedPointsBody
-            : classifiedContextSpatialFrame?.pointCloudBodyXyzM ?? []}
+            : classifiedContextSpatialFrame?.pointCloudBodyXyzM
+              ?? activeSpatialFrame?.pointCloudBodyXyzM
+              ?? []}
           localSurfaceBodyXyzM={localSurface.pointsBodyXyzM}
-          obstacles={classifiedSpatialLayer ? [] : sceneObstacles}
+          obstacles={hasClassifiedSpatialOutput ? [] : sceneObstacles}
           rig={timeline.rig}
           corridor={timeline.corridor}
           occupiedVoxelSizeM={displayedClassifiedSpatialFrame?.cellSizeM ?? timeline.occupiedVoxelSizeM}
@@ -1108,22 +1204,22 @@ export function M4ReplayThreatVisual({
           showCurrentIncrement={showCurrentIncrement}
           showLocalSurface={showLocalSurface}
           showRollingMap={showRollingMap}
-          showLowStep={classifiedSpatialLayer ? false : showLowStep}
+          showLowStep={hasClassifiedSpatialOutput ? false : showLowStep}
           pointSemanticClassIds={displayedClassifiedSpatialFrame && replaceClassifiedPointCloud
             ? displayedClassifiedSpatialFrame.pointClassIds
             : alignedSemanticPointIds}
           semanticClasses={displayedClassifiedSpatialFrame && replaceClassifiedPointCloud
             ? displayedClassifiedSpatialFrame.classes
-            : semanticClasses}
+            : spatialSemanticClasses}
           semanticPalette={displayedClassifiedSpatialFrame && replaceClassifiedPointCloud
             ? displayedClassifiedSpatialFrame.palette
-            : semanticPalette}
+            : spatialSemanticPalette}
           classifiedCells={classifiedCellsBody}
           classifiedPackedCells={classifiedPackedCellsBody}
           classifiedCellSizeM={displayedClassifiedSpatialFrame?.cellSizeM}
           showClassifiedCells={showRollingMap}
         />
-        {classifiedSpatialLayer && !displayedClassifiedSpatialFrame ? (
+        {hasClassifiedSpatialOutput && classifiedSpatialLayer && !displayedClassifiedSpatialFrame ? (
           <div className="l3-visual-audit__state" role={classifiedSpatialLayer.error ? "alert" : "status"}>
             {classifiedSpatialLayer.loading || displayingBufferedFrame
               ? <span className="busy-indicator" aria-hidden="true" />
@@ -1154,31 +1250,11 @@ export function M4ReplayThreatVisual({
               : `На кадре ${frame.sequence + 1} нет body frame; ждём первый квалифицированный spatial evidence.`}
           </div>
         ) : null}
-      </section>
+      </>
     ) : null;
 
-    content = (
-      <div
-        className="m4-replay-threat-visual__deck"
-        data-split={splitView ? "true" : undefined}
-        data-empty={!mediaMode && !spatialMode ? "true" : undefined}
-      >
-        <SplitPane
-          primary={mediaPane}
-          secondary={spatialPane ?? <div />}
-          primarySize={splitView ? splitPrimarySize : mediaMode ? 100 : 0}
-          onPrimarySizeChange={setSplitPrimarySize}
-          orientation={splitOrientation}
-          minPrimarySize={splitView ? 24 : 0}
-          minSecondarySize={splitView ? 24 : 0}
-          resizable={splitView}
-          separatorLabel="Изменить размер VIDEO/CAMERA и 3D/PLAN"
-        />
-        {!mediaMode && !spatialMode ? (
-          <div className="l3-visual-audit__state" role="status">
-            Выберите VIDEO/CAMERA или 3D/PLAN. Общий таймлайн останется на месте.
-          </div>
-        ) : null}
+    const deckOverlays = (
+      <>
         {timelineFrame.loading || displayingBufferedFrame ? (
           <div className="m4-replay-threat-visual__buffering" role="status">
             <span className="busy-indicator" aria-hidden="true" />
@@ -1209,8 +1285,9 @@ export function M4ReplayThreatVisual({
             <span>{semanticIntegrityError}</span>
           </div>
         ) : null}
-      </div>
+      </>
     );
+    canonicalContent = { mediaContent, spatialContent, deckOverlays };
   }
 
   const transport = timeline ? (
@@ -1235,38 +1312,59 @@ export function M4ReplayThreatVisual({
     />
   ) : undefined;
 
+  if (!timeline || !canonicalContent) {
+    return (
+      <div className="l3-visual-audit m4-replay-threat-visual">
+        <LaboratoryEvidenceViewer
+          label={`${evidenceLabel} recorded-realtime replay`}
+          className="m4-replay-threat-evidence-viewer"
+          mode="video"
+          modes={[{ value: "video", label: "VIDEO" }]}
+          expanded={expanded}
+          onModeChange={() => undefined}
+          onExpandedChange={setExpanded}
+        >
+          {content}
+        </LaboratoryEvidenceViewer>
+      </div>
+    );
+  }
   return (
-    <div className="l3-visual-audit m4-replay-threat-visual">
-      <LaboratoryEvidenceViewer
-        label={semantic
-          ? semantic.label ?? "Semantic diagnostic replay"
-          : `${evidenceLabel} recorded-realtime replay`}
-        className="m4-replay-threat-evidence-viewer"
-        mode={mediaMode ?? "none"}
-        modes={[
-          { value: "video", label: "VIDEO" },
-          { value: "camera", label: "CAMERA" },
-        ]}
-        secondaryMode={{
-          value: spatialMode ?? "none",
-          modes: [
-            { value: "3d", label: "3D" },
-            { value: "plan", label: "PLAN" },
-          ],
-          label: "3D и план",
-          onChange: handleSpatialModeChange,
-        }}
-        expanded={expanded}
-        onModeChange={handleMediaModeChange}
-        onExpandedChange={setExpanded}
-        modeControlsVisible={!splitView}
-        actions={actions}
-        overlay={overlay}
-        transport={transport}
-        trailingActions={trailingActions}
-      >
-        {content}
-      </LaboratoryEvidenceViewer>
-    </div>
+    <CanonicalRecordedLabReplay
+      label={activeSemantic
+        ? activeSemantic.label ?? "Semantic diagnostic replay"
+        : `${evidenceLabel} recorded-realtime replay`}
+      mediaMode={mediaMode ?? "none"}
+      mediaModes={[
+        { value: "video", label: "VIDEO" },
+        { value: "camera", label: "CAMERA" },
+      ]}
+      spatialMode={spatialMode ?? "none"}
+      spatialModes={[
+        { value: "3d", label: "3D" },
+        { value: "plan", label: "PLAN" },
+      ]}
+      expanded={expanded}
+      splitPrimarySize={splitPrimarySize}
+      splitOrientation={splitOrientation}
+      mediaAriaLabel={mediaMode === "camera" ? "Камера" : "Видео"}
+      spatialAriaLabel={spatialMode === "3d" ? "Трёхмерная сцена" : "Вид сверху"}
+      mediaLayerControls={mediaLayerControls}
+      spatialLayerControls={spatialLayerControls}
+      spatialLeadingControl={resetSpatialView}
+      mediaMultiLayer={availableSemanticLayers.length > 1}
+      mediaContent={canonicalContent.mediaContent}
+      spatialContent={canonicalContent.spatialContent}
+      emptyMessage="Выберите VIDEO/CAMERA или 3D/PLAN. Общий таймлайн останется на месте."
+      deckOverlays={canonicalContent.deckOverlays}
+      actions={actions}
+      overlay={overlay}
+      transport={transport}
+      trailingActions={trailingActions}
+      onMediaModeChange={handleMediaModeChange}
+      onSpatialModeChange={handleSpatialModeChange}
+      onExpandedChange={setExpanded}
+      onSplitPrimarySizeChange={setSplitPrimarySize}
+    />
   );
 }

apps/control-station/src/workspaces/laboratory/VegetationBenchmarkResult.tsx

@@ -0,0 +1,147 @@
+import {
+  LaboratoryEvidence,
+  LaboratoryResultSummary,
+  LaboratorySummary,
+  LaboratoryWorkTemplate,
+} from "../../components/laboratory/LaboratoryPresentation";
+import type { VegetationShadowResult } from "../../core/laboratory/vegetationShadow";
+import {
+  M48MaskComparisonVisual,
+  type M48MaskComparisonCase,
+} from "./M48FailureAtlasVisual";
+
+function decimal(value: number, digits = 1): string {
+  return value.toLocaleString("ru-RU", { maximumFractionDigits: digits });
+}
+
+const VEGETATION_LABELS: Readonly<Record<string, string>> = {
+  high_grass: "Высокая трава",
+  low_grass: "Низкая трава",
+  bush: "Куст",
+  tree_trunk: "Ствол дерева",
+  tree_crown: "Крона дерева",
+  hedge: "Живая изгородь",
+  forest: "Лесная растительность",
+  crops: "Посевы",
+};
+
+function comparisonCases(result: VegetationShadowResult): readonly M48MaskComparisonCase[] {
+  return result.validationCases.map((item) => {
+    const focus = item.focus!;
+    return {
+      caseId: item.caseId,
+      title: `${VEGETATION_LABELS[focus.className] ?? focus.className} · truth ${decimal(focus.truthFraction * 100, 1)}% кадра`,
+      sourceUrl: item.assets.source,
+      truthUrl: item.assets.truth,
+      predictions: {
+        ddrnet: item.assets.ddrnet,
+        ppliteseg: item.assets.ppliteseg,
+      },
+      errors: {
+        ddrnet: item.assets.ddrnet_error,
+        ppliteseg: item.assets.ppliteseg_error,
+      },
+    };
+  });
+}
+
+export function VegetationBenchmarkResultView({
+  rigLabel,
+  result,
+}: {
+  rigLabel: string;
+  result: VegetationShadowResult;
+}) {
+  const selected = result.candidates.find(
+    (candidate) => candidate.candidate === result.selectedCandidate,
+  )!;
+  const alternative = result.candidates.find(
+    (candidate) => candidate.candidate !== result.selectedCandidate,
+  )!;
+
+  return (
+    <LaboratoryWorkTemplate
+      summary={(
+        <LaboratorySummary
+          title="M4.8 · архивный benchmark растительности"
+          description="Отдельный truth-backed контур GOOSE для сравнения готовых fine-64 весов. Он не является частью RAVNOVES00 realtime LAB и открывается автономно без Worker 006."
+          status="ARCHIVE ANALYSIS · model qualification only · commands OFF"
+          statusTone="warning"
+          facts={[
+            { label: "Источник", value: "GOOSE validation · 962 размеченных кадра · 12 hard cases" },
+            { label: "Сравнение", value: "DDRNet-39 vs PPLiteSeg · official fine-64 weights" },
+            { label: "Кейсы", value: "трава · куст · ствол · крона · изгородь · лес · посевы" },
+            { label: "Authority", value: `${rigLabel} · MODEL QUALIFICATION ONLY · commands OFF` },
+          ]}
+          brief={{
+            question: "Какие готовые веса лучше различают проезжаемую траву, кусты и стволы на размеченных off-road кадрах?",
+            approach: "Обе модели прогнаны на 962 кадрах, а 12 визуальных кейсов выбраны детерминированно по truth-поддержке восьми растительных классов. Viewer показывает source, ручной truth, prediction и error.",
+            principalResult: `${selected.loadedModelName} лидирует по vegetation IoU: ${decimal(selected.vegetationMeanIouPercent, 2)}% против ${decimal(alternative.vegetationMeanIouPercent, 2)}%.`,
+            limitation: "GOOSE — внешний размеченный домен. Результат выбирает стартовые веса, но не доказывает качество на fisheye RAVNOVES00 и не даёт navigation authority.",
+          }}
+          method={{
+            completeness: "complete",
+            executionClass: "ai-inference",
+            pipelineId: "goose-fine64-ready-weights-benchmark-archive/v1",
+            components: result.candidates.map((candidate) => ({
+              kind: "model" as const,
+              name: candidate.loadedModelName,
+              version: candidate.candidate,
+              role: candidate.candidate === result.selectedCandidate
+                ? "selected vegetation candidate"
+                : "comparison candidate",
+              identitySha256: candidate.checkpointSha256,
+            })),
+          }}
+        />
+      )}
+      evidence={(
+        <LaboratoryEvidence
+          eyebrow="M4.8 · GOOSE VEGETATION HARD CASES"
+          title="TRUTH — ручная разметка · PREDICTION — ответ модели · ERROR — расхождение"
+          kind="diagnostic-model"
+          resizable
+        >
+          <M48MaskComparisonVisual
+            cases={comparisonCases(result)}
+            initialCandidate={result.selectedCandidate}
+          />
+        </LaboratoryEvidence>
+      )}
+      result={(
+        <LaboratoryResultSummary
+          title="DDRNet выбран как стартовый vegetation candidate"
+          status={`${selected.loadedModelName} · перенос на ровер не доказан`}
+          statusTone="warning"
+          metrics={[
+            {
+              label: "GOOSE mIoU",
+              value: `${decimal(selected.meanIouPercent, 2)}% / ${decimal(alternative.meanIouPercent, 2)}%`,
+              hint: `${selected.candidate} / ${alternative.candidate} · полный validation split`,
+            },
+            {
+              label: "Vegetation IoU",
+              value: `${decimal(selected.vegetationMeanIouPercent, 2)}% / ${decimal(alternative.vegetationMeanIouPercent, 2)}%`,
+              hint: "grass/vegetation/bush/tree и родственные fine-64 labels",
+            },
+            {
+              label: "Worker shadow p95",
+              value: `${decimal(selected.shadowLatencyP95Ms, 2)} / ${decimal(alternative.shadowLatencyP95Ms, 2)} ms`,
+              hint: "чистый inference · одна тяжёлая модель за раз",
+            },
+            {
+              label: "Peak VRAM",
+              value: `${decimal(selected.peakReservedVramBytes / 1024 ** 3, 2)} / ${decimal(alternative.peakReservedVramBytes / 1024 ** 3, 2)} GiB`,
+              hint: `${selected.candidate} / ${alternative.candidate} · RTX 4090`,
+            },
+          ]}
+          conclusion={{
+            proved: "Обе готовые fine-64 модели воспроизводимо запускаются; DDRNet лучше по aggregate vegetation IoU.",
+            notProved: "Не доказаны accuracy на нашем fisheye, temporal stability, collision safety и физическое поведение ровера.",
+            decision: "Хранить как архив квалификации весов. Проверку на RAVNOVES00 вести только в основной многослойной LAB.",
+          }}
+        />
+      )}
+    />
+  );
+}

apps/control-station/src/workspaces/laboratory/VegetationShadowResult.tsx

@@ -1,3 +1,5 @@
+import { useEffect, useState } from "react";
+
 import {
   LaboratoryEvidence,
   LaboratoryResultSummary,
@@ -6,47 +8,169 @@ import {
 } from "../../components/laboratory/LaboratoryPresentation";
 import {
   vegetationVideoMaskUrl,
+  type VegetationFullRouteReview,
   type VegetationShadowResult,
 } from "../../core/laboratory/vegetationShadow";
 import {
-  M48MaskComparisonVisual,
-  type M48MaskComparisonCase,
-} from "./M48FailureAtlasVisual";
-import { M4ReplayThreatVisual } from "./M4ReplayThreatVisual";
+  fetchM49TgsFullShadowResult,
+  type M49TgsFullShadowResult,
+} from "../../core/laboratory/m49TgsFullShadow";
+import { M49TgsFullShadowEvidence } from "./M49TgsFullShadowEvidence";
+import { CanonicalVegetationRerunReplay } from "./CanonicalVegetationRerunReplay";
 
 function decimal(value: number, digits = 1): string {
   return value.toLocaleString("ru-RU", { maximumFractionDigits: digits });
 }
 
-const VEGETATION_LABELS: Readonly<Record<string, string>> = {
-  high_grass: "Высокая трава",
-  low_grass: "Низкая трава",
-  bush: "Куст",
-  tree_trunk: "Ствол дерева",
-  tree_crown: "Крона дерева",
-  hedge: "Живая изгородь",
-  forest: "Лесная растительность",
-  crops: "Посевы",
-};
+function FullRouteReviewEvidence({
+  resultId,
+  review,
+}: {
+  resultId: string;
+  review: VegetationFullRouteReview;
+}) {
+  return <CanonicalVegetationRerunReplay resultId={resultId} review={review} />;
+}
 
-function comparisonCases(result: VegetationShadowResult): readonly M48MaskComparisonCase[] {
-  return result.validationCases.map((item) => {
-    const focus = item.focus!;
-    return {
-      caseId: item.caseId,
-      title: `${VEGETATION_LABELS[focus.className] ?? focus.className} · truth ${decimal(focus.truthFraction * 100, 1)}% кадра`,
-      sourceUrl: item.assets.source,
-      truthUrl: item.assets.truth,
-      predictions: {
-        ddrnet: item.assets.ddrnet,
-        ppliteseg: item.assets.ppliteseg,
-      },
-      errors: {
-        ddrnet: item.assets.ddrnet_error,
-        ppliteseg: item.assets.ppliteseg_error,
-      },
-    };
-  });
+function FullRouteReviewResult({
+  rigLabel,
+  resultId,
+  review,
+}: {
+  rigLabel: string;
+  resultId: string;
+  review: VegetationFullRouteReview;
+}) {
+  return (
+    <LaboratoryWorkTemplate
+      summary={(
+        <LaboratorySummary
+          title="LAB V1 · RAVNOVES004TREE · полный маршрут"
+          description="Принятый инструмент записанной LAB воспроизводит RAV004 без отдельного viewer: единый таймлайн, правая камера, исходные точки, ограниченный Local SLAM и переключаемые EoMT/DDRNet."
+          status="ПОЛНЫЙ ПРОСМОТР ЗАПИСИ · эталон отсутствует · команды ВЫКЛ"
+          statusTone="warning"
+          facts={[
+            { label: "Источник", value: `${review.sourceId} · ${review.frameCount}/${review.frameCount} кадров камеры` },
+            { label: "3D", value: "1444 приращения исходного облака · стабильная по гравитации RFU → корпус" },
+            { label: "Город", value: `${review.city.name} · ${decimal(review.city.inferenceFps, 2)} кадра/с` },
+            { label: "Природа", value: `${review.vegetation.name} · ${decimal(review.vegetation.inferenceFps, 2)} кадра/с` },
+            { label: "TGS", value: "существуют 10 контрольных якорей · артефакт полного маршрута отсутствует" },
+            { label: "Полномочия", value: `${rigLabel} · ТОЛЬКО ВИЗУАЛЬНЫЙ ПРОСМОТР · команды ВЫКЛ` },
+          ]}
+          brief={{
+            question: "Что реально видно на полном RAV004-прогоне с высокой травой, оврагами и переходом к городу?",
+            approach: "RAV004 поставляет только data/provider configuration в тот же M4 recorded viewer. Видеодекодер владеет clock; новые source increments проецируются в gravity-stable forward/left/up frame, Local SLAM ограничен пятью секундами.",
+            principalResult: "RAV004 больше не имеет отдельной логики окон, таймера, seek, cache или 3D controls. Модели и подписи меняются конфигурацией, архитектура переключения остаётся общей.",
+            limitation: "Full-route TGS, независимый person/vehicle detector, ручной truth и point-aligned 3D semantics пока не запечатаны. Semantic-derived рамки диагностические и не являются STOP-authority.",
+          }}
+          method={{
+            completeness: "complete",
+            executionClass: "ai-inference",
+            pipelineId: "canonical-recorded-lab-rav004tree/v3",
+            components: [
+              { kind: "algorithm", name: "Canonical recorded replay", version: "media-clock / one viewer", role: "shared camera + spatial transport", identitySha256: null },
+              { kind: "algorithm", name: "Recorded source points + bounded Local SLAM", version: "source-paced-ground-v3", role: "gravity-stable spatial evidence", identitySha256: null },
+              { kind: "model", name: review.city.name, version: "sealed Worker 006 run", role: "urban semantic review", identitySha256: null },
+              { kind: "model", name: review.vegetation.name, version: "GOOSE DDRNet-39", role: "vegetation semantic review", identitySha256: null },
+            ],
+          }}
+        />
+      )}
+      evidence={(
+        <LaboratoryEvidence
+          eyebrow="КАНОНИЧЕСКАЯ ЗАПИСАННАЯ LAB · RAVNOVES004TREE"
+          title="КАМЕРА + ИСХОДНЫЕ ТОЧКИ + ЛОКАЛЬНЫЙ SLAM + КАРТА TGS + СЕМАНТИКА · 6830/6830"
+          kind="recorded-replay"
+          resizable
+        >
+          <FullRouteReviewEvidence resultId={resultId} review={review} />
+        </LaboratoryEvidence>
+      )}
+      result={(
+        <LaboratoryResultSummary
+          title="RAV004 переведён на общий replay-каркас; safety evidence ещё не полно"
+          status="Записанные доказательства · навигация/управление ВЫКЛ"
+          statusTone="warning"
+          metrics={[
+            { label: "Таймлайн камеры", value: "6830 кадров · ≈9,51 Гц", hint: "единые часы управляют видео, слоями и пространством" },
+            { label: "Исходная геометрия", value: "1444 приращения · ≈2 Гц", hint: "между поступлениями удерживается последний подтверждённый пространственный кадр" },
+            { label: "Пропускная способность EoMT", value: `${decimal(review.city.inferenceFps, 2)} кадра/с`, hint: "изолированный полный прогон; не стек реального времени" },
+            { label: "Пропускная способность DDRNet", value: `${decimal(review.vegetation.inferenceFps, 2)} кадра/с`, hint: "изолированный полный прогон; временная стабильность не принята" },
+          ]}
+          conclusion={{
+            proved: "Камера, перемотка, пространственные слои и переключение семантики используют один принятый переиспользуемый viewer и единые часы; исходная геометрия RFU больше не наследует крен и тангаж LiDAR.",
+            notProved: "Не доказаны непрерывная TGS, независимый детектор/STOP, точность относительно эталона, временная стабильность DDRNet и ≥10 кадров/с совместного стека реального времени.",
+            decision: "Продолжать как визуальный аудит. До запечатанной TGS полного маршрута и барьера детектора/нагрузки навигация и управление остаются выключенными.",
+          }}
+        />
+      )}
+    />
+  );
+}
+
+function VegetationRouteEvidence({ result }: { result: VegetationShadowResult }) {
+  const route = result.routeVideo!;
+  const linkedTgsResultId = route.linkedTgsResultId;
+  const [tgs, setTgs] = useState<M49TgsFullShadowResult | null>(null);
+  const [tgsError, setTgsError] = useState<string | null>(null);
+
+  useEffect(() => {
+    const controller = new AbortController();
+    setTgs(null);
+    setTgsError(null);
+    if (!linkedTgsResultId) return () => controller.abort();
+    void fetchM49TgsFullShadowResult(linkedTgsResultId, {
+      signal: controller.signal,
+    }).then((next) => {
+      if (controller.signal.aborted) return;
+      if (next.source.linkedVisualResultId !== route.baseM4ResultId) {
+        throw new Error("TGS и camera timeline имеют разные source identities.");
+      }
+      setTgs(next);
+    }).catch((caught: unknown) => {
+      if (!controller.signal.aborted) {
+        setTgsError(caught instanceof Error ? caught.message : "Sealed TGS недоступен.");
+      }
+    });
+    return () => controller.abort();
+  }, [linkedTgsResultId, route.baseM4ResultId]);
+
+  if (!linkedTgsResultId) {
+    throw new Error("Vegetation LAB result has no linked canonical M4.9 TGS evidence.");
+  }
+
+  const semantic = {
+    id: "vegetation",
+    controlLabel: "ПРИРОДА · DDRNet",
+    resultId: route.workerResultId,
+    spatialResultId: null,
+    taxonomy: route.taxonomy,
+    maskUrl: (sequence: number) => vegetationVideoMaskUrl(result.resultId, sequence),
+    label: "DDRNet coarse vegetation material · recorded video",
+    maskAriaLabel: "DDRNet vegetation material prediction",
+  } as const;
+
+  if (tgsError) {
+    return (
+      <div className="m4-replay-threat-visual__pane-status" role="alert">
+        Канонический M4.9 TGS слой недоступен: {tgsError}
+      </div>
+    );
+  }
+  if (!tgs) {
+    return (
+      <div className="m4-replay-threat-visual__pane-status" role="status">
+        Открываем sealed EoMT, TGS и coarse vegetation timeline…
+      </div>
+    );
+  }
+  return (
+    <M49TgsFullShadowEvidence
+      result={tgs}
+      semanticOverride={semantic}
+      evidenceLabel="LAB V1 · EoMT + DDRNet + YOLOX + TGS"
+    />
+  );
 }
 
 export function VegetationShadowResultView({
@@ -56,143 +180,83 @@ export function VegetationShadowResultView({
   rigLabel: string;
   result: VegetationShadowResult;
 }) {
+  if (result.routeFullReview) {
+    return (
+      <FullRouteReviewResult
+        rigLabel={rigLabel}
+        resultId={result.resultId}
+        review={result.routeFullReview}
+      />
+    );
+  }
+  if (!result.routeVideo?.linkedTgsResultId) {
+    throw new Error(
+      "Vegetation LAB result has no canonical M4 source timeline and linked M4.9 TGS evidence.",
+    );
+  }
+  const route = result.routeVideo;
   const selected = result.candidates.find(
     (candidate) => candidate.candidate === result.selectedCandidate,
   )!;
-  const alternative = result.candidates.find(
-    (candidate) => candidate.candidate !== result.selectedCandidate,
-  )!;
+
   return (
     <LaboratoryWorkTemplate
       summary={(
         <LaboratorySummary
-          title="LAB V1 · готовые модели растительности"
-          description={result.routeVideo
-            ? "M4.8 сохраняет truth-backed сравнение моделей, а штатный M4.7 viewer показывает фактический DDRNet prediction на всей записи RAVNOVES00. Все 4489 масок запечатаны локально и открываются без Worker 006."
-            : "Штатный M4.8-инструмент сравнивает две готовые fine-64 модели на полном GOOSE validation split и на 12 truth-backed hard cases, выбранных только по наличию нужной растительности. Sealed evidence открывается локально без Worker 006."}
-          status={result.routeVideo
-            ? "DDRNet full-video prediction ready · route truth отсутствует"
-            : "Truth-backed model comparison · route transfer не принят"}
+          title="LAB V1 · карта ровера · город + растительность"
+          description="Один recorded-контур RAVNOVES00 синхронно показывает городской EoMT, природный DDRNet, frozen YOLOX detections и causal TGS. Семантические маски переключаются, чтобы их цвета не скрывали друг друга; геометрическое veto остаётся независимым."
+          status="MULTILAYER RECORDED REVIEW · commands OFF · route truth отсутствует"
           statusTone="warning"
           facts={[
-            { label: "Источник", value: "GOOSE validation · 962 размеченных кадра · 12 vegetation hard cases" },
-            { label: "Сравнение", value: "DDRNet-39 vs PPLiteSeg · official fine-64 weights" },
-            { label: "Кейсы", value: "трава · куст · ствол · крона · изгородь · лес · посевы" },
-            ...(result.routeVideo ? [{
-              label: "Видео",
-              value: "RAVNOVES00 · 4489/4489 DDRNet masks · exact recorded sequence",
-            }] : []),
-            { label: "Authority", value: `${rigLabel} · MODEL QUALIFICATION ONLY · commands OFF` },
+            { label: "Источник", value: "RAVNOVES00 · sensor.camera.right · 4489 recorded frames" },
+            { label: "Город", value: "EoMT Cityscapes · sealed E47 semantic archive" },
+            { label: "Растительность", value: "DDRNet-39 fine-64 → coarse mission-neutral materials" },
+            { label: "Safety", value: "YOLOX object boxes + causal TGS · semantic masks не снимают veto" },
+            { label: "Authority", value: `${rigLabel} · VISUAL REVIEW ONLY · commands OFF` },
           ]}
           brief={{
-            question: "Какие готовые веса лучше различают проезжаемую траву, кусты и стволы на размеченных off-road кадрах?",
-            approach: "Обе модели последовательно прогнаны в одном изолированном CUDA-runtime на 962 кадрах. 12 визуальных кейсов выбраны детерминированно по truth-поддержке восьми растительных классов; один M4.8 viewer показывает source, truth, prediction и material-error для выбранной модели.",
-            principalResult: `${selected.loadedModelName} лидирует по vegetation IoU: ${decimal(selected.vegetationMeanIouPercent, 2)}% против ${decimal(alternative.vegetationMeanIouPercent, 2)}%. ${result.routeVideo ? "Его фактическая temporal stability теперь видна на всех 4489 кадрах штатного recorded viewer." : "Ошибки по каждому типу проверяются в одном штатном инструменте."}`,
-            limitation: "GOOSE — внешний размеченный домен; RAVNOVES00 — наш fisheye, но без ручной truth-разметки. Full-video слой показывает prediction, а не доказывает правильность. Папоротник отдельным классом отсутствует.",
+            question: "Можно ли одновременно видеть городской и природный semantic stack, не теряя независимую геометрическую защиту?",
+            approach: "EoMT и DDRNet сохранены как два независимых sealed слоя на одной M4 timeline. В штатном M4.9 viewer пользователь переключает только отображаемую маску; YOLOX и TGS остаются активными слоями evidence.",
+            principalResult: "Оба semantic archive доступны в одном viewer. Это не пиксельный fusion и не единая новая модель: городской и природный ответы остаются раздельными.",
+            limitation: "RAVNOVES00 не имеет ручной truth. DDRNet заметно прыгает между HIGH GRASS, WOODY и UNKNOWN; поэтому subtype нельзя подавать напрямую в planner. Отсутствие класса никогда не означает свободный путь.",
           }}
           method={{
             completeness: "complete",
             executionClass: "ai-inference",
-            pipelineId: "goose-fine64-ready-weights-to-ravnoves-policy-shadow/v1",
-            components: result.candidates.map((candidate) => ({
-              kind: "model" as const,
-              name: candidate.loadedModelName,
-              version: candidate.candidate,
-              role: candidate.candidate === result.selectedCandidate ? "selected policy provider" : "comparison candidate",
-              identitySha256: candidate.checkpointSha256,
-            })),
+            pipelineId: "ravnoves-eomt-ddrnet-yolox-causal-tgs-recorded-review/v1",
+            components: [
+              { kind: "model", name: "EoMT Cityscapes semantic", version: "sealed E47 archive", role: "urban semantic review", identitySha256: null },
+              { kind: "model", name: selected.loadedModelName, version: selected.candidate, role: "vegetation material candidate", identitySha256: selected.checkpointSha256 },
+              { kind: "algorithm", name: "Frozen YOLOX + causal TGS", version: "linked M4/M4.9 archives", role: "independent object and geometry veto", identitySha256: null },
+            ],
           }}
         />
       )}
       evidence={(
-        <>
-          <LaboratoryEvidence
-            eyebrow="M4.8 · GOOSE VEGETATION HARD CASES"
-            title="ERROR: красный — пропуск · жёлтый — лишнее · фиолетовый — перепутан тип · зелёный — совпадение"
-            kind="diagnostic-model"
-            resizable
-          >
-            <M48MaskComparisonVisual
-              cases={comparisonCases(result)}
-              initialCandidate={result.selectedCandidate}
-            />
-          </LaboratoryEvidence>
-          {result.routeVideo ? (
-            <LaboratoryEvidence
-              eyebrow="M4.7 · RAVNOVES00 FULL VIDEO"
-              title="DDRNet PREDICTION · 4489/4489 кадров · TRUTH для этой записи отсутствует"
-              kind="diagnostic-model"
-              resizable
-            >
-              <M4ReplayThreatVisual
-                resultId={result.routeVideo.baseM4ResultId}
-                evidenceLabel="LAB V1 · DDRNet"
-                showReferenceMediaLayers={false}
-                showSpatialOverlaySummary={false}
-                semantic={{
-                  resultId: result.routeVideo.workerResultId,
-                  spatialResultId: null,
-                  taxonomy: result.routeVideo.taxonomy,
-                  maskUrl: (sequence) => vegetationVideoMaskUrl(result.resultId, sequence),
-                  label: "DDRNet vegetation prediction · recorded video",
-                  maskAriaLabel: "DDRNet vegetation prediction",
-                }}
-              />
-            </LaboratoryEvidence>
-          ) : null}
-        </>
+        <LaboratoryEvidence
+          eyebrow="M4.9 · RAVNOVES00 FULL VIDEO"
+          title="EoMT CITY / DDRNet VEGETATION + YOLOX + CAUSAL TGS · 4489/4489 · TRUTH отсутствует"
+          kind="diagnostic-model"
+          resizable
+        >
+          <VegetationRouteEvidence result={result} />
+        </LaboratoryEvidence>
       )}
       result={(
         <LaboratoryResultSummary
-          title="DDRNet — стартовые веса; перенос на ровер ещё не доказан"
-          status={`${selected.loadedModelName} выбран только как vegetation candidate`}
+          title="Многослойный visual review собран; управление не авторизовано"
+          status="Semantics advisory · YOLOX/TGS veto cannot be cleared"
           statusTone="warning"
           metrics={[
-            {
-              label: "GOOSE mIoU",
-              value: `${decimal(selected.meanIouPercent, 2)}% / ${decimal(alternative.meanIouPercent, 2)}%`,
-              hint: `${selected.candidate} / ${alternative.candidate} · полный validation split`,
-            },
-            {
-              label: "Vegetation IoU",
-              value: `${decimal(selected.vegetationMeanIouPercent, 2)}% / ${decimal(alternative.vegetationMeanIouPercent, 2)}%`,
-              hint: "агрегация классов grass/vegetation/bush/tree и родственных fine-64 labels",
-            },
-            {
-              label: "Worker shadow p95",
-              value: `${decimal(selected.shadowLatencyP95Ms, 2)} / ${decimal(alternative.shadowLatencyP95Ms, 2)} ms`,
-              hint: "чистый inference · одна тяжёлая модель за раз",
-            },
-            {
-              label: "Cold prewarm",
-              value: `${decimal(selected.shadowPrewarmLatencyMs, 1)} / ${decimal(alternative.shadowPrewarmLatencyMs, 1)} ms`,
-              hint: "один явный inference до допуска кадров; исключён из steady-state p95",
-            },
-            {
-              label: "Worker throughput",
-              value: `${decimal(selected.shadowThroughputFps, 1)} / ${decimal(alternative.shadowThroughputFps, 1)} FPS`,
-              hint: "изолированный Worker 006 · не realtime graph целиком",
-            },
-            {
-              label: "Peak VRAM",
-              value: `${decimal(selected.peakReservedVramBytes / 1024 ** 3, 2)} / ${decimal(alternative.peakReservedVramBytes / 1024 ** 3, 2)} GiB`,
-              hint: `${selected.candidate} / ${alternative.candidate} · RTX 4090`,
-            },
-            {
-              label: "Hard-case evidence",
-              value: "12 truth-backed cases",
-              hint: "8 vegetation strata · Worker для открытия не требуется",
-            },
-            ...(result.routeVideo ? [{
-              label: "Route video",
-              value: "4489/4489 masks",
-              hint: "DDRNet prediction · exact sequence · Worker-independent playback",
-            }] : []),
+            { label: "Route masks", value: `${route.frameCount}/${route.frameCount}`, hint: "sealed local playback · Worker для открытия не нужен" },
+            { label: "Semantic sources", value: "2 independent layers", hint: "EoMT CITY / DDRNet VEGETATION · display switches, evidence does not fuse" },
+            { label: "Vegetation worker p95", value: `${decimal(selected.shadowLatencyP95Ms, 2)} ms`, hint: "изолированный DDRNet inference; не совместный realtime stack" },
+            { label: "Vegetation peak VRAM", value: `${decimal(selected.peakReservedVramBytes / 1024 ** 3, 2)} GiB`, hint: "DDRNet candidate на Worker 006" },
           ]}
           conclusion={{
-            proved: "Обе официальные fine-64 модели воспроизводимо запускаются на Worker 006; DDRNet лучше по aggregate vegetation IoU. Truth-backed hard cases прямо показывают траву, кусты и стволы, а не случайные автомобили и здания.",
-            notProved: "Не доказаны accuracy на нашем fisheye-домене, папоротник как отдельный материал, collision safety и physical-live поведение ровера. Видео позволяет увидеть temporal stability, но без truth не превращает её в метрику качества.",
-            decision: "Смотреть полный prediction на видео и собирать конкретные temporal/domain failure cases. DDRNet остаётся diagnostic candidate; LiDAR/TGS fail-closed геометрию не ослаблять.",
+            proved: "На одной recorded timeline доступны городской EoMT, природный DDRNet, YOLOX detections и causal TGS; LAB автономна от Worker.",
+            notProved: "Не доказаны совместный live-runtime EoMT+DDRNet, truth accuracy на fisheye, стабильные vegetation subtypes и безопасное управление ровером.",
+            decision: "Использовать маски только для диагностики. Следующий qualification gate — motion-aware temporal vegetation fusion и отдельный совместный realtime load test; до него planner/actuation остаются OFF.",
           }}
         />
       )}

apps/control-station/src/workspaces/laboratory/annotation/M48EvidenceModeControls.tsx

@@ -10,6 +10,7 @@ interface M48EvidenceModeControlProps {
   mode: M48BlindEvidenceMode;
   cameraVisible: boolean;
   spatialAvailable: boolean;
+  planAvailable?: boolean;
   onModeChange: (mode: M48BlindEvidenceMode) => void;
   onCameraVisibleChange: (visible: boolean) => void;
 }
@@ -34,6 +35,7 @@ export function M48EvidenceModeControls({
   mode,
   cameraVisible,
   spatialAvailable,
+  planAvailable = spatialAvailable,
   onModeChange,
   onCameraVisibleChange,
 }: M48EvidenceModeControlProps) {
@@ -68,9 +70,9 @@ export function M48EvidenceModeControls({
       <IconButton
         label={spatialMode === "plan" ? "Скрыть план" : "Показать план"}
         aria-pressed={spatialMode === "plan"}
-        disabled={!spatialAvailable || (!cameraVisible && spatialMode === "plan")}
+        disabled={!planAvailable || (!cameraVisible && spatialMode === "plan")}
         onClick={() => {
-          if (!spatialAvailable) return;
+          if (!planAvailable) return;
           onModeChange(nextM48SpatialMode(mode, cameraVisible, "plan"));
         }}
       >

apps/control-station/src/workspaces/laboratory/annotation/useL34AnnotationCapability.tsx

@@ -1,4 +1,4 @@
-import { useCallback, useEffect, useState, type ReactNode } from "react";
+import { useCallback, useEffect, useMemo, useState, type ReactNode } from "react";
 
 import type { L34RightYoloxTruthIslandResult } from "../../../core/laboratory/l34RightYoloxTruthIsland";
 import type { L34DResult } from "../../../core/laboratory/l34dCumulativePostprocessing";
@@ -28,19 +28,19 @@ export function useL34AnnotationCapability({
 }): ReactNode {
   const [open, setOpen] = useState(false);
   const openWorkspace = useCallback(() => setOpen(true), []);
-  const available = selectedWorkId === "l34-right-yolox-truth-island-freeze"
-    && l34Result
-    ? { resultId: l34Result.resultId, workflow: "assisted-candidate" as const }
-    : selectedWorkId === "e46-detector-truth-island" && e46Result
-      ? { resultId: e46Result.resultId, workflow: "independent-blind" as const }
-      : selectedWorkId === "e46a-ai-engineering-preannotation" && e46aResult
-        ? { resultId: e46aResult.resultId, workflow: "engineering-preannotation" as const }
-      : selectedWorkId === "l34d-cumulative-postprocessing-candidate"
-      && l34dResult
-      ? { resultId: l34dResult.resultId, workflow: "prediction-hidden" as const }
-      : selectedWorkId === "l34e-self-review-diagnostic" && l34eResult
-        ? { resultId: l34eResult.resultId, workflow: "adjudication" as const }
-        : null;
+  const available = useMemo(() => (
+    selectedWorkId === "l34-right-yolox-truth-island-freeze" && l34Result
+      ? { resultId: l34Result.resultId, workflow: "assisted-candidate" as const }
+      : selectedWorkId === "e46-detector-truth-island" && e46Result
+        ? { resultId: e46Result.resultId, workflow: "independent-blind" as const }
+        : selectedWorkId === "e46a-ai-engineering-preannotation" && e46aResult
+          ? { resultId: e46aResult.resultId, workflow: "engineering-preannotation" as const }
+          : selectedWorkId === "l34d-cumulative-postprocessing-candidate" && l34dResult
+            ? { resultId: l34dResult.resultId, workflow: "prediction-hidden" as const }
+            : selectedWorkId === "l34e-self-review-diagnostic" && l34eResult
+              ? { resultId: l34eResult.resultId, workflow: "adjudication" as const }
+              : null
+  ), [e46Result, e46aResult, l34Result, l34dResult, l34eResult, selectedWorkId]);
 
   useEffect(() => {
     if (!available) {

apps/control-station/src/workspaces/laboratory/laboratoryArchiveProfiles.ts

@@ -10,6 +10,7 @@ export type LaboratoryProfileId =
   | "rig-camera-local-surface-v1"
   | "rig-track-geometry-temporal-v1"
   | "rig-ravnoves-perception-gate-v1"
+  | "rig-goose-vegetation-benchmark-v1"
   | "rig-pointpillars-transfer-v1"
   | "rig-right-yolox-lidar-range-v1"
   | "rig-nvidia-ready-stack-v1"
@@ -63,12 +64,19 @@ interface KnownWorkDefinition {
 const rig = (rigLabel: string): string => rigLabel.trim() || "Сенсорный риг";
 
 const KNOWN_WORKS: Readonly<Record<Exclude<LaboratoryWorkId, `session:${string}`>, KnownWorkDefinition>> = {
+  "lab-v1-vegetation-benchmark": {
+    profileId: "rig-goose-vegetation-benchmark-v1",
+    profileName: (rigLabel) => `${rig(rigLabel)} · GOOSE vegetation archive`,
+    experimentId: "lab-v1-vegetation-benchmark-archive",
+    experimentName: "DDRNet vs PPLiteSeg · truth-backed archival comparison",
+    variantName: "M4.8 · GOOSE truth · архивный анализ моделей",
+  },
   "lab-v1-vegetation-shadow": {
     profileId: "rig-ravnoves-perception-gate-v1",
-    profileName: (rigLabel) => `${rig(rigLabel)} · GOOSE vegetation qualification`,
+    profileName: (rigLabel) => `${rig(rigLabel)} · RAVNOVES00 rover perception gate`,
     experimentId: "lab-v1-vegetation-mission-policy",
-    experimentName: "DDRNet vs PPLiteSeg · truth-backed vegetation hard cases",
-    variantName: "LAB V1 · готовые vegetation weights · GOOSE truth",
+    experimentName: "RAVNOVES00 · city + vegetation + TGS review",
+    variantName: "LAB V1 · EoMT + DDRNet + YOLOX + TGS · commands OFF",
   },
   "m48-object-centric-quality": {
     profileId: "rig-dual-evidence-virtual-corridor-v1",
@@ -451,6 +459,17 @@ function pipelineIdForSession(session: ObservationSessionSummary): string {
   return session.lab?.resultKind ?? "legacy-perception";
 }
 
+/** Keep capability projections owned by Observatory out of the legacy LAB surface. */
+export function isLegacyPublishedLaboratoryWork(
+  session: ObservationSessionSummary,
+): boolean {
+  return session.lab !== null
+    && session.lab.replayCapability === null
+    && session.status === "ready"
+    && session.replayable
+    && session.modalities.includes("point-cloud");
+}
+
 export function buildLaboratoryCatalog({
   rigLabel,
   knownWorks,

apps/control-station/src/workspaces/laboratory/useAdvancedLaboratoryCatalog.ts

@@ -18,6 +18,7 @@ function mergeResults(
   next: AdvancedLaboratoryResults,
 ): AdvancedLaboratoryResults {
   return {
+    vegetationBenchmark: next.vegetationBenchmark ?? current.vegetationBenchmark,
     vegetationShadow: next.vegetationShadow ?? current.vegetationShadow,
     m47Graph: next.m47Graph ?? current.m47Graph,
     m48: next.m48 ?? current.m48,
@@ -122,6 +123,7 @@ export function useAdvancedLaboratoryCatalog({
     const indexedResultId = index.find((item) => item.workId === selectedWorkId)?.resultId;
     if (
       [
+        "lab-v1-vegetation-benchmark",
         "lab-v1-vegetation-shadow",
         "m47-reference-graph-shadow",
         "m48-object-centric-quality",

apps/control-station/src/workspaces/laboratory/useE47SemanticTimeline.ts

@@ -11,11 +11,30 @@ const CHUNK_SIZE = 24;
 const RETAINED_CHUNK_COUNT = 8;
 const PREFETCH_CHUNKS_AHEAD = 2;
 
-function chunkWindowStarts(activeStart: number, frameCount: number): readonly number[] {
-  return Array.from(
-    { length: PREFETCH_CHUNKS_AHEAD + 2 },
-    (_, index) => activeStart + (index - 1) * CHUNK_SIZE,
-  ).filter((start) => start >= 0 && start < frameCount);
+export function e47SemanticChunkWindowStarts(
+  activeStart: number,
+  frameCount: number,
+): readonly number[] {
+  return [
+    activeStart,
+    ...Array.from(
+      { length: PREFETCH_CHUNKS_AHEAD },
+      (_, index) => activeStart + (index + 1) * CHUNK_SIZE,
+    ),
+    activeStart - CHUNK_SIZE,
+  ].filter((start) => start >= 0 && start < frameCount);
+}
+
+export function cancelE47SemanticRequestsOutsideWindow<T extends { abort(): void }>(
+  inFlight: Map<number, T>,
+  desiredStarts: readonly number[],
+): void {
+  const desired = new Set(desiredStarts);
+  for (const [start, controller] of inFlight) {
+    if (desired.has(start)) continue;
+    controller.abort();
+    inFlight.delete(start);
+  }
 }
 
 function errorMessage(error: unknown): string {
@@ -29,11 +48,13 @@ export function useE47SemanticTimelineFrame({
   activeSequence,
   frameCount,
   taxonomy,
+  enabled = true,
 }: {
   resultId: string | null;
   activeSequence: number | null;
   frameCount: number;
   taxonomy: readonly E47SemanticClass[];
+  enabled?: boolean;
 }) {
   const [chunks, setChunks] = useState<ReadonlyMap<number, E47SemanticTimelineChunk>>(
     () => new Map(),
@@ -55,16 +76,21 @@ export function useE47SemanticTimelineFrame({
       for (const controller of inFlight.current.values()) controller.abort();
       inFlight.current.clear();
     };
-  }, [resultId]);
+  }, [enabled, resultId]);
 
-  const activeStart = activeSequence === null
+  const activeStart = !enabled || activeSequence === null
     ? null
     : Math.floor(activeSequence / CHUNK_SIZE) * CHUNK_SIZE;
   activeStartRef.current = activeStart;
 
   useEffect(() => {
-    if (!resultId || activeStart === null || frameCount < 1) return;
-    for (const start of chunkWindowStarts(activeStart, frameCount)) {
+    if (!enabled || !resultId || activeStart === null || frameCount < 1) {
+      cancelE47SemanticRequestsOutsideWindow(inFlight.current, []);
+      return;
+    }
+    const starts = e47SemanticChunkWindowStarts(activeStart, frameCount);
+    cancelE47SemanticRequestsOutsideWindow(inFlight.current, starts);
+    for (const start of starts) {
       if (chunksRef.current.has(start) || inFlight.current.has(start)) continue;
       const controller = new AbortController();
       inFlight.current.set(start, controller);
@@ -95,8 +121,11 @@ export function useE47SemanticTimelineFrame({
         .finally(() => {
           if (inFlight.current.get(start) === controller) inFlight.current.delete(start);
         });
+      // Semantic point arrays are large JSON payloads. Admit the active chunk
+      // first, then advance the bounded prefetch window one request per render.
+      break;
     }
-  }, [activeStart, frameCount, resultId, taxonomy]);
+  }, [activeStart, chunks, enabled, frameCount, resultId, taxonomy]);
 
   const activeFrame: E47SemanticTimelineFrame | null = useMemo(() => {
     if (activeSequence === null || activeStart === null) return null;
@@ -107,7 +136,7 @@ export function useE47SemanticTimelineFrame({
 
   return {
     activeFrame,
-    loading: Boolean(resultId) && activeSequence !== null && !activeFrame && !error,
+    loading: enabled && Boolean(resultId) && activeSequence !== null && !activeFrame && !error,
     error,
   };
 }

apps/control-station/src/workspaces/laboratory/useM4ThreatTimeline.ts

@@ -18,6 +18,7 @@ import {
 
 const REQUESTED_CHUNK_FRAMES = 24;
 const RETAINED_CHUNK_COUNT = 4;
+const RETAINED_CHUNKS_BEHIND = 1;
 const PREFETCH_CHUNKS_AHEAD = 1;
 const RETAINED_CAMERA_POINT_OVERLAYS = 12;
 
@@ -31,10 +32,17 @@ export function m4ThreatChunkWindowStarts(
   frameCount: number,
 ): readonly number[] {
   if (chunkSize < 1 || frameCount < 1) return [];
-  return Array.from(
-    { length: PREFETCH_CHUNKS_AHEAD + 1 },
-    (_, index) => activeChunkStart + index * chunkSize,
-  ).filter((start) => start >= 0 && start < frameCount);
+  return [
+    activeChunkStart,
+    ...Array.from(
+      { length: PREFETCH_CHUNKS_AHEAD },
+      (_, index) => activeChunkStart + (index + 1) * chunkSize,
+    ),
+    ...Array.from(
+      { length: RETAINED_CHUNKS_BEHIND },
+      (_, index) => activeChunkStart - (index + 1) * chunkSize,
+    ),
+  ].filter((start) => start >= 0 && start < frameCount);
 }
 
 export function cancelM4ThreatChunkRequestsOutsideWindow<T extends { abort(): void }>(
@@ -76,12 +84,16 @@ export function useM4ThreatTimelineFrame({
   resultId,
   timeline,
   currentSeconds,
+  includeSpatialPoints = true,
   endpointRoot,
+  spatialPlaybackTransport = "auto",
 }: {
   resultId: string;
   timeline: M4ThreatTimeline | null;
   currentSeconds: number;
+  includeSpatialPoints?: boolean;
   endpointRoot?: string;
+  spatialPlaybackTransport?: "auto" | "sealed-binary" | "json";
 }) {
   const [chunks, setChunks] = useState<ReadonlyMap<number, M4ThreatTimelineChunk>>(
     () => new Map(),
@@ -94,8 +106,10 @@ export function useM4ThreatTimelineFrame({
     totalBytes: 0,
   });
   const [playbackError, setPlaybackError] = useState<string | null>(null);
-  const binaryPlayback = endpointRoot === undefined
-    || endpointRoot === M4_THREAT_TIMELINE_ENDPOINT_ROOT;
+  const binaryPlayback = spatialPlaybackTransport === "sealed-binary"
+    || (spatialPlaybackTransport === "auto" && (
+      endpointRoot === undefined || endpointRoot === M4_THREAT_TIMELINE_ENDPOINT_ROOT
+    ));
   const inFlight = useRef(new Map<number, AbortController>());
   const chunksRef = useRef(chunks);
   const activeChunkStartRef = useRef<number | null>(null);
@@ -107,7 +121,7 @@ export function useM4ThreatTimelineFrame({
     setPlaybackError(null);
     setPlaybackProgress({ phase: "manifest", loadedBytes: 0, totalBytes: 0 });
     if (!timeline) return () => controller.abort();
-    if (!binaryPlayback) {
+    if (!binaryPlayback || !includeSpatialPoints) {
       setPlaybackProgress({ phase: "ready", loadedBytes: 0, totalBytes: 0 });
       return () => controller.abort();
     }
@@ -127,7 +141,7 @@ export function useM4ThreatTimelineFrame({
         }
       });
     return () => controller.abort();
-  }, [binaryPlayback, endpointRoot, resultId, timeline]);
+  }, [binaryPlayback, endpointRoot, includeSpatialPoints, resultId, timeline]);
 
   useEffect(() => {
     for (const controller of inFlight.current.values()) controller.abort();
@@ -140,7 +154,7 @@ export function useM4ThreatTimelineFrame({
       for (const controller of inFlight.current.values()) controller.abort();
       inFlight.current.clear();
     };
-  }, [resultId, timeline]);
+  }, [includeSpatialPoints, resultId, timeline]);
 
   const activeSequence = useMemo(
     () => timeline
@@ -158,7 +172,11 @@ export function useM4ThreatTimelineFrame({
   activeChunkStartRef.current = activeChunkStart;
 
   useEffect(() => {
-    if (!timeline || activeChunkStart === null || (binaryPlayback && !playbackManifest)) return;
+    if (
+      !timeline
+      || activeChunkStart === null
+      || (binaryPlayback && includeSpatialPoints && !playbackManifest)
+    ) return;
     const starts = m4ThreatChunkWindowStarts(
       activeChunkStart,
       chunkSize,
@@ -170,7 +188,7 @@ export function useM4ThreatTimelineFrame({
       const controller = new AbortController();
       inFlight.current.set(start, controller);
       void (async () => {
-        const playbackPointPack = binaryPlayback && playbackManifest
+        const playbackPointPack = binaryPlayback && includeSpatialPoints && playbackManifest
           ? await fetchM4ThreatPlaybackPointChunk(
               playbackManifest,
               Math.floor(start / playbackManifest.chunkFrameCount),
@@ -189,6 +207,7 @@ export function useM4ThreatTimelineFrame({
           endpointRoot,
           cameraObstacleProjectionDelivery: timeline.cameraObstacleProjectionDelivery,
           playbackPointPack,
+          includePoints: includeSpatialPoints,
         });
       })()
         .then((chunk) => {
@@ -220,7 +239,7 @@ export function useM4ThreatTimelineFrame({
       // loaded first, then the next chunk is prefetched on the following render.
       break;
     }
-  }, [activeChunkStart, binaryPlayback, chunkSize, chunks, endpointRoot, playbackManifest, resultId, timeline]);
+  }, [activeChunkStart, binaryPlayback, chunkSize, chunks, endpointRoot, includeSpatialPoints, playbackManifest, resultId, timeline]);
 
   const activeFrame: M4ThreatTimelineFrame | null = useMemo(() => {
     if (activeSequence === null || activeChunkStart === null) return null;

apps/control-station/src/workspaces/simulation/SimulationWorkspace.tsx

@@ -1,25 +1,45 @@
-import { useCallback, useEffect, useMemo, useState } from "react";
+import {
+  useCallback,
+  useEffect,
+  useMemo,
+  useRef,
+  useState,
+  type DragEvent,
+} from "react";
 import {
   ActivityIndicator,
   Button,
   ConfirmationModal,
   GlassSurface,
   Icon,
-  IconButton,
   StatusBadge,
 } from "@nodedc/ui-react";
 
+import { SimulationCatalog } from "../../components/simulation/SimulationCatalog";
 import { SimulationProjectWindow } from "../../components/simulation/SimulationProjectWindow";
 import { SimulationViewport } from "../../components/simulation/SimulationViewport";
 import {
+  createSimulationProject,
   deleteSimulationProject,
   fetchSimulationProjects,
   retrySimulationProject,
+  uploadSimulationProjectSource,
   type SimulationProject,
   type SimulationProjectStatus,
+  type SimulationUploadProgress,
 } from "../../core/simulation/projects";
+import {
+  archiveProjectName,
+  archivesFromDrop,
+  hasDroppedFiles,
+} from "../../core/simulation/sourceFiles";
 
-const ACTIVE_STATUSES = new Set<SimulationProjectStatus>(["queued", "processing", "importing"]);
+const BUILD_STATUSES = new Set<SimulationProjectStatus>(["queued", "processing", "importing"]);
+
+interface BrowserUpload {
+  project: SimulationProject;
+  file: File;
+}
 
 export function SimulationWorkspace() {
   const [projects, setProjects] = useState<SimulationProject[]>([]);
@@ -30,6 +50,15 @@ export function SimulationWorkspace() {
   const [editing, setEditing] = useState<SimulationProject | null>(null);
   const [deleting, setDeleting] = useState<SimulationProject | null>(null);
   const [retryingId, setRetryingId] = useState<string | null>(null);
+  const [pendingUploads, setPendingUploads] = useState<BrowserUpload[]>([]);
+  const [uploadProgress, setUploadProgress] = useState<Map<string, SimulationUploadProgress>>(
+    () => new Map(),
+  );
+  const [queueError, setQueueError] = useState<string | null>(null);
+  const [dropping, setDropping] = useState(false);
+  const activeUploadRef = useRef<{ projectId: string; controller: AbortController } | null>(null);
+  const intakeChainRef = useRef<Promise<void>>(Promise.resolve());
+  const dragDepthRef = useRef(0);
 
   const load = useCallback(async (signal?: AbortSignal) => {
     try {
@@ -51,11 +80,60 @@ export function SimulationWorkspace() {
   }, [load]);
 
   useEffect(() => {
-    if (!projects.some((project) => ACTIVE_STATUSES.has(project.status))) return;
+    if (!projects.some((project) => BUILD_STATUSES.has(project.status))) return;
     const timer = window.setInterval(() => void load(), 2_000);
     return () => window.clearInterval(timer);
   }, [load, projects]);
 
+  useEffect(() => {
+    const next = pendingUploads[0];
+    if (!next || activeUploadRef.current) return;
+    const controller = new AbortController();
+    activeUploadRef.current = { projectId: next.project.projectId, controller };
+    void uploadSimulationProjectSource(
+      next.project,
+      [{ file: next.file, logicalPath: next.file.name }],
+      (progress) => {
+        setUploadProgress((current) => {
+          const updated = new Map(current);
+          updated.set(next.project.projectId, progress);
+          return updated;
+        });
+        setProjects((current) => current.map((project) => (
+          project.projectId === next.project.projectId
+            ? {
+                ...project,
+                source: { ...project.source, uploadedByteLength: progress.uploadedBytes },
+              }
+            : project
+        )));
+      },
+      controller.signal,
+    ).then((queued) => {
+      setProjects((current) => current.map((project) => (
+        project.projectId === queued.projectId ? queued : project
+      )));
+      setQueueError(null);
+    }).catch((caught) => {
+      if (controller.signal.aborted) return;
+      setQueueError(caught instanceof Error
+        ? `${next.file.name}: ${caught.message}`
+        : `${next.file.name}: загрузка остановлена.`);
+    }).finally(() => {
+      setPendingUploads((current) => current.filter(
+        (item) => item.project.projectId !== next.project.projectId,
+      ));
+      setUploadProgress((current) => {
+        const updated = new Map(current);
+        updated.delete(next.project.projectId);
+        return updated;
+      });
+      activeUploadRef.current = null;
+    });
+  }, [pendingUploads]);
+
+  useEffect(() => () => activeUploadRef.current?.controller.abort(), []);
+
   const selected = useMemo(
     () => projects.find((project) => project.projectId === selectedId) ?? null,
     [projects, selectedId],
@@ -72,8 +150,9 @@ export function SimulationWorkspace() {
   };
 
   const acceptSaved = (project: SimulationProject) => {
+    const wasEditing = editing !== null;
     setProjects((current) => [project, ...current.filter((item) => item.projectId !== project.projectId)]);
-    setSelectedId(project.projectId);
+    if (!wasEditing) setSelectedId(project.projectId);
     setWindowOpen(false);
     setEditing(null);
   };
@@ -86,10 +165,77 @@ export function SimulationWorkspace() {
 
   const confirmDelete = async () => {
     if (!deleting) return;
-    await deleteSimulationProject(deleting.projectId);
-    setProjects((current) => current.filter((project) => project.projectId !== deleting.projectId));
-    if (selectedId === deleting.projectId) setSelectedId(null);
-    setDeleting(null);
+    const pending = pendingUploads.find((item) => item.project.projectId === deleting.projectId);
+    if (activeUploadRef.current?.projectId === deleting.projectId) {
+      activeUploadRef.current.controller.abort();
+    }
+    setPendingUploads((current) => current.filter(
+      (item) => item.project.projectId !== deleting.projectId,
+    ));
+    try {
+      await deleteSimulationProject(deleting.projectId);
+      setProjects((current) => current.filter((project) => project.projectId !== deleting.projectId));
+      setUploadProgress((current) => {
+        const updated = new Map(current);
+        updated.delete(deleting.projectId);
+        return updated;
+      });
+      if (selectedId === deleting.projectId) setSelectedId(null);
+      setDeleting(null);
+    } catch (caught) {
+      if (pending) setPendingUploads((current) => [pending, ...current]);
+      const message = caught instanceof Error ? caught.message : "Не удалось удалить проект.";
+      setQueueError(message);
+      throw caught;
+    }
+  };
+
+  const enqueueDroppedArchives = useCallback((files: File[]) => {
+    intakeChainRef.current = intakeChainRef.current.then(async () => {
+      for (const file of files) {
+        try {
+          const project = await createSimulationProject(
+            archiveProjectName(file.name),
+            "outdoor",
+            [{ file, logicalPath: file.name }],
+          );
+          setProjects((current) => [
+            project,
+            ...current.filter((item) => item.projectId !== project.projectId),
+          ]);
+          setPendingUploads((current) => [...current, { project, file }]);
+        } catch (caught) {
+          setQueueError(caught instanceof Error
+            ? `${file.name}: ${caught.message}`
+            : `${file.name}: не удалось создать проект.`);
+        }
+      }
+    });
+  }, []);
+
+  const handleDrop = async (transfer: DataTransfer) => {
+    dragDepthRef.current = 0;
+    setDropping(false);
+    setQueueError(null);
+    try {
+      enqueueDroppedArchives(await archivesFromDrop(transfer));
+    } catch (caught) {
+      setQueueError(caught instanceof Error ? caught.message : "Архивы не приняты.");
+    }
+  };
+
+  const handleDragEnter = (event: DragEvent<HTMLDivElement>) => {
+    if (!hasDroppedFiles(event.dataTransfer)) return;
+    event.preventDefault();
+    dragDepthRef.current += 1;
+    setDropping(true);
+  };
+
+  const handleDragLeave = (event: DragEvent<HTMLDivElement>) => {
+    if (!hasDroppedFiles(event.dataTransfer)) return;
+    event.preventDefault();
+    dragDepthRef.current = Math.max(0, dragDepthRef.current - 1);
+    if (dragDepthRef.current === 0) setDropping(false);
   };
 
   const retry = async (project: SimulationProject) => {
@@ -141,7 +287,7 @@ export function SimulationWorkspace() {
             </div>
             <div className="simulation-workspace__processing-actions">
               <StatusBadge tone={selected.status === "failed" ? "warning" : "accent"}>
-                {selected.provider.state ?? selected.status}
+                {providerStateLabel(selected.provider.state, selected.status)}
               </StatusBadge>
               {selected.status === "failed" ? (
                 <Button
@@ -164,93 +310,45 @@ export function SimulationWorkspace() {
   }
 
   return (
-    <div className="simulation-workspace">
+    <div
+      className="simulation-workspace"
+      onDragEnter={handleDragEnter}
+      onDragOver={(event) => {
+        if (!hasDroppedFiles(event.dataTransfer)) return;
+        event.preventDefault();
+        event.dataTransfer.dropEffect = "copy";
+      }}
+      onDragLeave={handleDragLeave}
+      onDrop={(event) => {
+        if (!hasDroppedFiles(event.dataTransfer)) return;
+        event.preventDefault();
+        void handleDrop(event.dataTransfer);
+      }}
+    >
       <header className="simulation-workspace__head">
         <div>
           <span className="section-eyebrow">ТЕСТОВЫЙ КОНТУР / СИМУЛЯЦИИ</span>
           <h2>Gaussian-миры</h2>
-          <p>Каталог исходников, сборок Worker 006 и полнофункциональных PlayCanvas-сцен.</p>
+          <p>Каталог исходников, сборок Worker 006 и полнофункциональных интерактивных сцен.</p>
         </div>
         <Button variant="primary" icon={<Icon name="plus" size={16} />} onClick={openCreate}>
           Новый проект
         </Button>
       </header>
 
-      <section className="simulation-catalog" aria-label="Проекты симуляции">
-        <header className="simulation-catalog__summary">
-          <div><span>Проектов</span><strong>{projects.length.toLocaleString("ru-RU")}</strong></div>
-          <div><span>Готово</span><strong>{projects.filter((project) => project.status === "ready").length}</strong></div>
-          <div><span>В работе</span><strong>{projects.filter((project) => ACTIVE_STATUSES.has(project.status)).length}</strong></div>
-          <div><span>Исходники</span><strong>{formatBytes(projects.reduce((sum, project) => sum + project.source.totalByteLength, 0))}</strong></div>
-        </header>
-        {loading ? (
-          <div className="simulation-catalog__state" role="status">
-            <ActivityIndicator label="Загрузка каталога" />
-            <span>Читаем каталог сцен</span>
-          </div>
-        ) : error ? (
-          <div className="simulation-catalog__state" role="alert">
-            <Icon name="alert" size={20} />
-            <div><strong>Каталог недоступен</strong><span>{error}</span></div>
-            <Button size="compact" onClick={() => void load()}>Повторить</Button>
-          </div>
-        ) : projects.length === 0 ? (
-          <div className="simulation-catalog__empty">
-            <span><Icon name="globe" size={20} /></span>
-            <strong>Проектов пока нет</strong>
-            <p>Создайте первый мир из папки LCC/LCC2 или архива ZIP, RAR, 7z.</p>
-            <Button variant="primary" icon={<Icon name="upload" size={16} />} onClick={openCreate}>
-              Загрузить исходник
-            </Button>
-          </div>
-        ) : (
-          <div className="simulation-catalog__table-wrap">
-            <table className="simulation-catalog__table">
-              <thead>
-                <tr>
-                  <th>Проект</th>
-                  <th>Источник</th>
-                  <th>Размер</th>
-                  <th>Сплаты</th>
-                  <th>Статус</th>
-                  <th>Обновлён</th>
-                  <th aria-label="Действия" />
-                </tr>
-              </thead>
-              <tbody>
-                {projects.map((project) => {
-                  const status = statusPresentation(project.status);
-                  return (
-                    <tr key={project.projectId} data-status={project.status}>
-                      <td>
-                        <button type="button" onClick={() => setSelectedId(project.projectId)}>
-                          <span className="simulation-catalog__project-icon"><Icon name="globe" size={18} /></span>
-                          <span><strong>{project.name}</strong><small>{sceneTypeLabel(project.sceneType)}</small></span>
-                        </button>
-                      </td>
-                      <td>{project.source.kind === "archive" ? "Архив" : "Папка"}<small>{project.source.files.length} файл(ов)</small></td>
-                      <td>{formatBytes(project.source.totalByteLength)}</td>
-                      <td>—</td>
-                      <td><StatusBadge tone={status.tone}>{status.label}</StatusBadge></td>
-                      <td>{formatDate(project.updatedAtUtc)}</td>
-                      <td>
-                        <div className="simulation-catalog__actions">
-                          <IconButton label={`Удалить ${project.name}`} disabled={ACTIVE_STATUSES.has(project.status)} onClick={() => setDeleting(project)}>
-                            <Icon name="trash" size={16} />
-                          </IconButton>
-                          <IconButton label={`Редактировать ${project.name}`} onClick={() => openEdit(project)}>
-                            <Icon name="edit" size={16} />
-                          </IconButton>
-                        </div>
-                      </td>
-                    </tr>
-                  );
-                })}
-              </tbody>
-            </table>
-          </div>
-        )}
-      </section>
+      <SimulationCatalog
+        projects={projects}
+        uploadProgress={uploadProgress}
+        loading={loading}
+        loadError={error}
+        queueError={queueError}
+        dropping={dropping}
+        onCreate={openCreate}
+        onRetryLoad={() => void load()}
+        onSelect={(project) => setSelectedId(project.projectId)}
+        onEdit={openEdit}
+        onDelete={setDeleting}
+      />
 
       <SimulationProjectWindow
         open={windowOpen}
@@ -280,7 +378,7 @@ function statusPresentation(status: SimulationProjectStatus): {
   label: string;
   tone: "success" | "accent" | "warning" | "neutral";
 } {
-  if (status === "ready") return { label: "Готово", tone: "success" };
+  if (status === "ready") return { label: "Визуал готов", tone: "success" };
   if (status === "failed") return { label: "Ошибка", tone: "warning" };
   if (status === "uploading") return { label: "Загрузка", tone: "neutral" };
   if (status === "importing") return { label: "Импорт", tone: "accent" };
@@ -294,28 +392,20 @@ function processingMessage(project: SimulationProject): string {
   if (typeof completed === "number" && typeof total === "number") {
     return `Этап ${completed.toLocaleString("ru-RU")} из ${total.toLocaleString("ru-RU")}. Каталог обновляется автоматически.`;
   }
-  return "Исходник подтверждён; конвертация SOG и Streamed SOG выполняется в переносимом контейнере.";
+  return "Исходник подтверждён; локация и её LOD-уровни собираются в переносимом контейнере.";
 }
 
-function sceneTypeLabel(value: SimulationProject["sceneType"]): string {
-  if (value === "interior") return "Интерьер";
-  if (value === "object") return "Объект";
-  return "Улица";
-}
-
-function formatDate(value: string): string {
-  const date = new Date(value);
-  return Number.isNaN(date.valueOf()) ? "—" : date.toLocaleString("ru-RU", {
-    day: "2-digit",
-    month: "short",
-    hour: "2-digit",
-    minute: "2-digit",
-  });
-}
-
-function formatBytes(value: number): string {
-  if (value < 1024) return `${value} Б`;
-  if (value < 1024 ** 2) return `${(value / 1024).toLocaleString("ru-RU", { maximumFractionDigits: 1 })} КБ`;
-  if (value < 1024 ** 3) return `${(value / 1024 ** 2).toLocaleString("ru-RU", { maximumFractionDigits: 1 })} МБ`;
-  return `${(value / 1024 ** 3).toLocaleString("ru-RU", { maximumFractionDigits: 2 })} ГБ`;
+function providerStateLabel(
+  state: string | null,
+  projectStatus: SimulationProjectStatus,
+): string {
+  if (state === "queued") return "Ожидание";
+  if (state === "verifying_source") return "Проверка исходника";
+  if (state === "inspecting") return "Анализ локации";
+  if (state === "building_preview") return "Подготовка локации";
+  if (state === "building_streamed_sog") return "Сборка LOD";
+  if (state === "building_collision") return "Сборка коллизий";
+  if (state === "ready") return "Визуал готов";
+  if (state === "failed") return "Ошибка";
+  return statusPresentation(projectStatus).label;
 }

apps/control-station/src/workspaces/system/ComputeModulesWorkspace.tsx

@@ -17,9 +17,14 @@ import {
 } from "../../core/system/useWorkerTelemetry";
 
 function pipelineStateLabel(state: string): string {
-  if (state === "busy") return "Выполняет задачу";
+  if (state === "busy" || state === "running") return "Выполняет задачу";
+  if (state === "waiting") return "Ожидает восстановления данных";
+  if (state === "synchronizing") return "Синхронизирует поток";
+  if (state === "starting") return "Загружает профиль";
+  if (state === "stopped" || state === "cancelled") return "Профиль остановлен";
+  if (state === "failed") return "Ошибка профиля";
   if (state === "ready") return "Готов к задаче";
-  return "Нет live-состояния";
+  return "Нет свежих данных о задаче";
 }
 
 function formatResourcePair(
@@ -116,7 +121,7 @@ export function ComputeModulesWorkspace() {
       {!legacyDiagnostic && !agentTelemetry ? (
         <GlassSurface className="system-workspace__notice" padding="md" tone="soft">
           <StatusBadge tone="warning">
-            Агентный data-plane ещё не опубликовал нормализованный срез этого контура.
+            Ожидаем свежую телеметрию выбранного узла.
           </StatusBadge>
         </GlassSurface>
       ) : null}
@@ -187,6 +192,8 @@ export function ComputeModulesWorkspace() {
                 ? `${node.gpu.temperature_celsius} °C`
                 : "—"
             }</dd></div>
+            <div><dt>Частота GPU</dt><dd>{node?.gpu?.sm_clock_mhz == null ? "—" : `${node.gpu.sm_clock_mhz} МГц`}</dd></div>
+            <div><dt>Частота памяти GPU</dt><dd>{node?.gpu?.memory_clock_mhz == null ? "—" : `${node.gpu.memory_clock_mhz} МГц`}</dd></div>
             <div><dt>Мощность</dt><dd>{
               typeof node?.gpu?.power_watts === "number"
                 ? `${node.gpu.power_watts.toFixed(1)} Вт`
@@ -214,7 +221,7 @@ export function ComputeModulesWorkspace() {
           <div>
             <span className="section-eyebrow">PROCESSING RUNTIME</span>
             <h3>Контейнеры Mission Core</h3>
-            <p>Два ограниченных runtime: inference server и прикладной perception pipeline.</p>
+            <p>Состояние контейнера и готовность вычислительного профиля проверяются отдельно.</p>
           </div>
           <StatusBadge tone={node?.triton.ready ? "success" : "danger"}>
             {node?.triton.ready ? "Triton ready" : "Triton недоступен"}
@@ -233,19 +240,31 @@ export function ComputeModulesWorkspace() {
             <span className="section-eyebrow">ТЕКУЩАЯ ЗАДАЧА</span>
             <h3>{pipelineStateLabel(telemetry?.pipeline.service_state ?? "unavailable")}</h3>
             <p>
+              {telemetry?.pipeline.profile_name ?? "Perception"}
+              {" · "}
               {telemetry?.pipeline.active_request_id
                 ? `Run ${telemetry.pipeline.active_request_id}`
-                : "Очередь свободна; модели остаются загруженными в persistent worker."}
+                : telemetry?.pipeline.service_state === "ready"
+                  ? "Готов к приёму данных."
+                  : "Готовность моделей не подтверждена."}
             </p>
           </div>
           <StatusBadge tone={
-            telemetry?.pipeline.service_state === "busy" ? "warning"
+            ["busy", "running", "waiting", "synchronizing", "starting"].includes(telemetry?.pipeline.service_state ?? "") ? "warning"
               : telemetry?.pipeline.service_state === "ready" ? "success"
                 : "danger"
           }>
-            {telemetry?.pipeline.service_state ?? "unavailable"}
+            {pipelineStateLabel(telemetry?.pipeline.service_state ?? "unavailable")}
           </StatusBadge>
         </header>
+        {telemetry?.pipeline.profile_name ? (
+          <div className="worker-pipeline__summary">
+            <div><span>Процессы профиля</span><strong>{telemetry.pipeline.live_children ?? "—"}</strong></div>
+            <div><span>Ожиданий потока</span><strong>{telemetry.pipeline.input_pauses ?? "—"}</strong></div>
+            <div><span>Пакетов в очереди</span><strong>{telemetry.pipeline.pending_bundles ?? "—"}</strong></div>
+            <div><span>Входные буферы</span><strong>{formatBytes(telemetry.pipeline.buffer_bytes)}</strong></div>
+          </div>
+        ) : null}
         <div className="worker-pipeline__summary">
           <div><span>Завершено запусков</span><strong>{telemetry?.pipeline.completed_runs ?? "—"}</strong></div>
           <div><span>Ошибок запусков</span><strong>{telemetry?.pipeline.failed_runs ?? "—"}</strong></div>