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.
143 lines
8.0 KiB
Markdown
143 lines
8.0 KiB
Markdown
# Physical repeat `ja-sun-007-100m` — read-only acceptance review
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Reviewed on 2026-09-20 after the operator reported a successful approximately
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100 m walk. This is a retained-data inspection, not a replay, new capture,
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device operation, algorithm change, or navigation acceptance. No Ops mutations.
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## Identity and integrity
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- Live run: `ac07a83a-f784-4d31-a908-d1fd526921b4`.
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- Query: `20260920T054444Z_viewer_live`, generation 1, display name
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`ja-sun-007-100m`; do not confuse it with the earlier unsuccessful `ja-sun-007`.
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- Reference: `JA-SADOVAYA-001`, `20260911T085226Z_viewer_live`.
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- Draft: `672c1d9f-b817-4b78-b84c-b34a4edc0870`, revision 1.
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- Selected route: indices 0–1320, length 102.59360280377184 m; context map
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indices 0–1516, `route-context-map/v2`.
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- All 133 declared run artifact hashes verified against `report.json`.
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- Raw capture SHA-256:
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`1c8161b2d2e22ecb98ccd1bbe04f1dc348b8d79b1cab1a2cf94dcecf58ea929c`.
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- Metadata SHA-256:
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`8c8caa3e293fa459e423c815a08c84ced20433cefb55eb81d018e245dd1c5783`.
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- Raw and metadata hashes verified, all 3,858 message payload hashes verified;
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full streaming decoding found zero pose/cloud decode errors.
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- Empty recovery journal and clock origin verified. The summary declares the
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**sealed session clock**
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`mqtt.timeline.session-de7e1779fa341e2e81e0943d8523f09fc1003a0528b2f0342fa4ec86334d445b.json`;
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its digest matches. The mutable transport `mqtt.timeline.json` is a different
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envelope and must not be compared to the session-clock digest.
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- Query raw data contains 1,625 poses, 1,624 clouds and 5,573,004 cloud points.
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Capture summary records no rejected messages, recoveries, or transport error.
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Evidence root is the canonical `NODEDC_MISSION_CORE/.runtime/mission-core`:
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run artifacts under `missions/live-tests/<run-id>/`, raw source under
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`evidence/sessions/<query-id>/`. Private raw evidence remains outside Git.
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## Timeline and registration
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Times below are UTC; local operator time is UTC+3. Durations were calculated
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from retained monotonic timestamps.
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| Event | UTC |
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| --- | --- |
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| First pose / first cloud | 05:45:11.013 / 05:45:11.024 |
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| Stationary prefix complete; initial search starts | 05:45:21.048 |
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| Provisional initial match complete | 05:45:36.390 |
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| First fresh validation accepted | 05:45:38.881 |
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| Third fresh validation; tracking established | 05:45:49.087 |
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| Last fresh validation accepted | 05:47:41.109 |
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| Selected route distance reached; tracking authority cleared | 05:47:43.034 |
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| Run completed | 05:47:43.039 |
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| Operator STOP correlated response | 05:47:53.360 |
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| Last raw pose / cloud | 05:47:53.585 / 05:47:53.592 |
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Tracking established 38.076 s after the first pose. The initial search took
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15.337 s wall time and only supplied a provisional prior; it is not counted as
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an accepted fresh validation. All **25/25** fresh validations were accepted;
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there was no rejection, reacquisition, receipt-gap segment change, or loss
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between acquiring tracking and completing the selected distance.
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| Fresh-validation metric | Minimum | Median | Maximum |
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| --- | ---: | ---: | ---: |
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| Overlap | 96.658% | 98.497% | 99.638% |
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| Inlier surface RMSE | 0.13956 m | 0.15095 m | 0.16728 m |
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| Worker wall time | 0.26009 s | 0.35009 s | 0.47530 s |
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| Latest input age at acceptance | 0.30952 s | 0.65603 s | 0.92065 s |
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| Change at current query position between accepted transforms | 0.00710 m | 0.01281 m | 0.03758 m |
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| Full rotation change between accepted transforms | 0.04392° | 0.13181° | 0.30600° |
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The transform yaw ranges from 4.0242° to 4.4371°, a span of 0.4129°.
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This is the relationship between session frames, **not** an independently
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measured heading error. Similarly, overlap and inlier RMSE describe agreement
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of matched surfaces, not ground-truth rover position accuracy.
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Final fit overlap is 98.390%, RMSE 0.13956 m. Its sampled accumulated distance
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is 98.463 m; the run continues using that fresh accepted alignment until
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102.594 m, approximately two seconds later. Do not describe every metre of the
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last interval as separately re-registered.
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Termination is `distance-limit`: the **operator-selected route length**,
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not a restored hard-coded 100 m cap. `selected-live-route/v1` has no fixed
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maximum route length or time ceiling. Terminal `tracking_state=lost` is the
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intentional revocation at completion, not an in-motion localization loss.
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The raw recording continued for about ten seconds after the planning run:
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scanner-reported distance at run end was 102.572 m, final scanner distance
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104.463 m. Summing all raw positional increments gives 104.912 m, a different
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metric from the planner's 5 cm filtered path accumulator.
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## Cloud delivery and retained visual evidence
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- Raw pose/cloud average cadence is approximately 10 Hz, including during
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tracking. It is not uniformly spaced.
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- During tracking, cloud gap p50/p95/max = 0.08162/0.24342/1.00042 s;
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pose gap p50/p95/max = 0.08123/0.23606/1.65884 s.
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- No raw pose/cloud gap exceeds 2 s. Across the full capture the longest cloud
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gap is 1.06501 s. Maximum adjacent raw pose displacement is 0.12333 m; the
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large timing gaps do not correspond to a coordinate teleport.
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- At run completion the planning ingress reports lidar 1,521 published,
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1,492 consumed, 27 overflow drops and 2 queued; pose 1,522 published,
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1,519 consumed, 2 overflow drops and 1 queued. Raw recording is independently
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retained; these counts must not be equated with raw file loss.
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- Fast display accepted 1,484 cloud updates. Final rolling display has 20 chunks
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and 39,238 points. It intentionally does not accumulate the entire route cloud.
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- A read-only scan of the service access log found 1,703 requests for this run's
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scene delta endpoint: 926 HTTP 200, 777 HTTP 204, no HTTP errors, one base
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request. All observed requests kept reference/query/trajectory enabled in 3D.
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- Request cursors include **802 distinct live cloud revisions**, 842 distinct
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live pose sequences, and 25 distinct fit-evidence sequences. From the client
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implementation, subsequent cursors follow a successful `send_rrd` call.
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This supports repeated native-channel delivery, not merely production of
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backend snapshots. Counts are aggregate access-log evidence, not per-display
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frame timing or a GPU presentation acknowledgment.
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- There is no retained measurement of actual browser paint FPS or end-to-end
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visible latency. The operator's uncertain visual impression cannot be closed
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as “smooth real time” from these counters alone. Green correspondence evidence
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changes with the approximately five-second fit, separately from fast cloud.
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The camera archive summary is complete, with 1,534 segments and no failure
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code. Camera media was not fully decoded or independently hash-verified in this
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review, so no stronger video continuity/presentation claim is made.
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## Decision and remaining boundary
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Positive physical laboratory result: stationary acquisition and continuing
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registration work across the selected approximately 100 m route. Quality did
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not collapse with distance, and the earlier reported approximately 10° sudden
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misalignment is not reproduced in the retained accepted transforms.
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Fast cloud delivery is physically evidenced beyond the previous offline
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qualification, but subjective/paint-level visual acceptance remains open.
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Ingress drops and occasional 1–1.66 s input pauses are real limitations to
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measure, not grounds to call the entire acquisition smooth.
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This does not establish arbitrary-start relocalization, robustness across
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mounting configurations, independent absolute localization accuracy, or an
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acceptable navigation freshness/stopping budget. The laboratory still retains
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`localization_confirmed=false`, `vehicle_control=false`; the 8 s alignment age
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gate is not a vehicle safety criterion. A longer walk alone does not close those
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questions. Next useful acceptance is repeated starts with known offsets and a
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controlled observation of cloud/pose presentation and stale-input behavior.
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Only this audit was added. No implementation, runtime configuration, device,
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recording, Ops card, or service lifecycle was changed during review.
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