DCCONSTRUCTIONS
e515ab1b8c
Preserve the completed teach-and-repeat laboratory stage: reference preparation, cascaded acquisition, local tracking and recovery, recording lifecycle, replay qualification, and persistent Rerun scene controls. Document the open grid-picking regression and Rerun upgrade contract. No autonomous driving or loop-closure optimization is claimed.
89 lines
5.1 KiB
Markdown
89 lines
5.1 KiB
Markdown
# Planning scene and independent pass B — repair audit
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User scope: retain the ordinary spatial scene toolbar, camera, recording controls
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and Planning profile; eliminate the exit action that loses the research; unify
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the planner toolbar and Inspector geometry. No new capture or hardware command.
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## Retained evidence
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JA-SADOVAYA-002 was captured on 2026-09-11, 13:43:55–13:47:03 UTC. The archive
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catalog marks its point-cloud and trajectory sources ready: 959 cloud messages,
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960 poses, 37,812,938 raw bytes. Raw SHA-256:
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`fe1366a177c20204f26e709649521611f0fc3aae138cb857bcabe84a5809268a`.
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The device's last distance report is 62.532 m; sum of received pose steps is
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62.974 m, including gaps, and is not independent ground truth.
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The research failed before its first registration result: 2.776 m of accumulated
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movement and 14,101 preview points were retained in its status. Received pose 161
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moves 10.407 m after a 9.973 s receipt gap. The first implementation rejected any
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step above 3 m without considering elapsed time. Therefore no green was produced;
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this is an ingestion failure, not an experiment disproving localization.
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The selected frozen draft was the prior internal reverse-direction comparison
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of the first 30 m of A, not the forward 30 m draft. This source selection is
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preserved, not silently corrected. Start/direction must be checked before using
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B to claim a registration result.
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B has no archived camera frames. Its camera epoch sealed with zero media segments
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and `stale-activation-commit`. This is separate from the missing floating camera
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UI. Camera authority fences are retained; no unsafe retry or physical command is
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introduced by this patch. An unavailable recording cannot be reconstructed as
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video. The next actual camera run still requires hardware acceptance.
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## Implementation
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SpatialWorkspace is extracted unchanged in ownership from the workspace hub to
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`workspaces/spatial`. A typed visual-profile slot supplies the research renderer,
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status, metrics and toolbar; the existing K1 controls, source picker and floating
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camera transport remain owned by the shared scene. The profile no longer puts
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stop controls behind an extra modal or exposes a button clearing the research.
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Terminal errors outrank generic waiting/staleness. Saved research selection
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restores its frozen reference and verified preview across navigation/restart,
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without running a new capture or fit. Future previews are persisted with hashes.
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Receipt gaps above 2 s clear the bounded fit window and invalidate old accepted
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samples. A step is rejected above max(3 m, 3 m/s × min(receipt gap, 30 s)); this
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is a diagnostic plausibility bound, not odometry acceptance. Jobs carry the
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segment identity and cannot commit across a gap. Slow results remain recorded
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as historical evidence; the existing 8 s green freshness rule is unchanged.
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The planner uses canonical Inspector/InspectorSelectField with full-width
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stacked actions. One right-aligned host toolbar owns cloud/route, top/3D and
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expand actions; no nested host title. For the pinned single-view Rerun runtime,
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its measured 54 CSS px canvas chrome (28 px top allocation + 26 px view strip)
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is allocated outside the clipped content viewport. The Inspector scrolls independently
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inside the available panel height. Scene content height and native pointer handling are preserved.
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## Validation
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Focused Python registration/planner/live tests pass (24 cases), including the
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10 s receipt-gap regression, rejection of a fast coordinate jump, bounded sample
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reset, persisted preview restoration and no restored live-green authority.
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Frontend architecture and planner checks pass. Full frontend validation and
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canonical browser smoke are recorded at completion below.
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The original failing report and raw session are retained. No localization success,
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new camera capture, autonomy, control or navigation acceptance is claimed.
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## Completed acceptance on canonical 8000
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Production typecheck/build passed. The complete frontend run executed 849 cases
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(840 passed; nine obsolete architecture/source-location expectations failed).
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After updating those expectations for LAB placement/shared scene extraction and
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removing generic-shell vendor labels, focused reruns passed; the final remaining
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four affected files passed all 50 cases. No failing assertions remain from that run.
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Browser inspection on the built localhost service verified: equal action widths
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(315.2 CSS px in the observed Inspector), split canonical selects, independent
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Inspector scrolling, one aligned toolbar, no visible Rerun title/help strip,
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real A cloud, expand/restore/Escape, preserved forward draft, and reopening the
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actual failed research with its frozen reference and explicit failure. The old
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failed run has no persisted query preview; its 14,101 status points are not
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reconstructed or presented as a successful result. Raw B remains intact.
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The shared source picker shows K1 cloud and both camera channels; cameras are
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unconfirmed/disabled while capture is stopped. Camera/recording controls retain
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the ordinary scene owners, but a new physical camera run was not performed.
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The next action is analysis of existing A/B in the correct forward draft, not
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an immediate repeat scan. This UI repair is not hardware-camera acceptance.
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