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.
97 lines
5.5 KiB
Markdown
97 lines
5.5 KiB
Markdown
# Rerun customization register: planning profile addendum
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Date: 2026-09-21. Documentation-only inventory of the implementation completed
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on 2026-09-20, plus the owner's subsequent grid-picking regression report.
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This does not implement a fix or update the Rerun dependency.
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## Scope and version
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The existing complete baseline remains
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`2026-09-05-rerun-customization-inventory.md` and Ops MISSIONCOR #74.
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Web Viewer and Python SDK remain pinned to 0.36.3. This planning work changes
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Mission Core adapters, not the vendor SDK/WASM. The September 5 package/hash
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audit is historical evidence; package provenance was not re-audited here.
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The planning viewer is a separate profile from recorded Sessions and canonical
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LAB replay. Do not assume their camera-journal, FOLLOW or blueprint-lease
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mechanisms are interchangeable.
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## Runtime and geometry transport
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- `components/missions/PlanningLiveScene.tsx` owns one isolated Rerun host and
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one channel per run/retry. Layers, clipping, point size and tool-window state
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are not dependencies of its mounting effect.
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- `core/missions/planningSceneStream.ts` admits latest-only deltas with one
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in-flight request. The last admitted cursor survives stale replies and
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transport errors. `needsBase` repairs geometry independently of camera intent.
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- `missions/live_scene_delta.py` records camera intent as `[mode, reset]`.
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Only initial admission or an explicit mode/reset change sends `log_view`.
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`log_base` refreshes reference, trajectory and grid entities without writing
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the operator's eye. A display epoch or alignment change is not a camera reset.
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- The query transform, bounded cloud chunks, current temporal cloud head and
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accepted-match display are separate entities. `Clear`, static component
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replacement and `Transform3D` inheritance are upgrade-sensitive semantics.
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- HTTP reset generation is explicitly carried by `web/planning_live_api.py`.
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A transport cursor is not localization evidence. Expired live replies remain
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rejected; renderer recovery must not restore green localization authority.
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- Browser presentation telemetry measures channel admission and two bounded
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animation-frame opportunities, not actual GPU paint or physical accuracy.
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## Operator controls and camera ownership
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- `PlanningSceneToolWindow.tsx` uses the Design Guideline `WorkspaceWindow`:
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modeless, draggable, resizable and scene-bounded, with maximize/restore and
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Escape. Layers and Display share it and retain its position when switching.
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- `PlanningSpatialWorkspace.tsx` and `workspaces/spatial/SpatialWorkspace.tsx`
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supply the window through the shared scene tools slot. The duplicate
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Planning and Engine toolbar actions are absent in this spatial profile.
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The optional source action remains available to other consumers.
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- Height clipping uses canonical vertical `RangeControl`, right-side shaft,
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left-side endpoints, no perimeter outline, and a displayed upper bound of
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80 m. The full-scale position sends no extra height cut. Presentation
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extraction and numerical localization extraction are independent; this is
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not evidence of sensor range, terrain height or vehicle clearance.
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- Native camera navigation is retained by not sending a replacement blueprint.
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This planning path does not reconstruct eye from a pointer-input journal.
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Explicit reset and top/3D presets may intentionally change the eye.
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## Known open regression: selectable grid
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To avoid a grid toggle reactivating a camera blueprint, the native
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`LineGrid3D` is disabled and `world/grid` is logged as `LineStrips3D` in
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`missions/live_scene.py`. Its XY extent follows reference bounds with 80 m
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padding and adaptive spacing. It is a visual guide, not inferred ground.
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The owner screenshot on September 21 shows a hover tooltip for
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`/world/grid[20]` and a highlighted line. Ordinary data geometry participates
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in native picking; the previous acceptance missed this behavioral regression.
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It remains **unfixed** in this checkpoint. A future fix must make the guide
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non-interactive without disabling useful point/trajectory picking or
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reintroducing camera resets. Prefer a supported viewer/blueprint mechanism;
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do not silently patch WASM or intercept all pointer input.
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## Upgrade acceptance extension
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- [ ] Preserve iframe, native recording/channel and eye through clipping,
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layer toggles, point-size/grid changes, stale replies and geometry repair.
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- [ ] Confirm explicit reset and top/3D presets still work.
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- [ ] Confirm static replacement, child transforms, current cloud head and
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historical/live separation with the new SDK and Web Viewer together.
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- [ ] Drag/resize/maximize tools while orbiting/zooming; test Escape, full screen
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and focus without blocking scene interaction or remounting the viewer.
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- [ ] Verify full-scale 80 m display, partial glyph contrast and no focus/drag
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perimeter. UI clipping must not alter recording or registration inputs.
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- [ ] Resolve and verify grid picking independently; retain useful picking on
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actual scene data. Do not mark this item complete from the older screenshot QA.
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- [ ] Repeat scene stream, scene tools, fast-display/API tests and browser QA;
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retain the separate recorded Sessions/FOLLOW upgrade checks from the baseline.
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## Evidence limits
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September 20 acceptance: 875 frontend tests, typecheck/build, 8 focused backend
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tests and browser interaction QA, recorded in
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`2026-09-20-planning-scene-camera-and-tools.md`. These results predate the grid
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report and do not prove that grid picking was correct. No new physical scan,
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SLAM closure algorithm, registration threshold change or device command is
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part of this documentation update.
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