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Saved navigation and motion events

Leash persists saved waypoints and patrol zones in a versioned leash-navigation-v1 JSON store next to the per-run spatial-memory file. A waypoint has a stable ID, display name, frame, position, tolerance, and created and updated timestamps. A patrol zone groups ordered waypoint IDs with an optional polygon boundary of at least three points.

The capability registry exposes:

  • waypoint_create, waypoint_list, waypoint_update, waypoint_delete
  • patrol_zone_create, patrol_zone_list, patrol_zone_update, patrol_zone_delete
  • start_patrol_zone, stop_patrol, patrol_status

Deleting a waypoint that a zone references is rejected. IDs accept only ASCII letters, numbers, -, and _; coordinates must be finite; tolerances must be positive. Zone creation and updates reject missing or duplicate waypoint IDs.

leash mcp call invoke_capability --json \
  '{"capability":"waypoint_create","id":"entry","name":"Entry","x_m":0.25,"y_m":0.0}'
leash mcp call invoke_capability --json \
  '{"capability":"patrol_zone_create","id":"front","name":"Front","waypoint_ids":["entry"],"boundary":[{"x_m":0.0,"y_m":0.0},{"x_m":0.5,"y_m":0.0},{"x_m":0.5,"y_m":0.5}]}'
leash mcp call invoke_capability --json \
  '{"capability":"start_patrol_zone","zone_id":"front","speed_mode":"low"}'

Simulation uses the local planner. Replay selects the ordered zone path and reports active status without issuing drive commands. Physical mobile-base profiles reject zone starts by default; the independent compile/runtime gate, freshness requirements, policy lease, and reusable checklist are in PHYSICAL_NAVIGATION.md. A latched e-stop always rejects a new start. POST /patrol/stop and e-stop cancel the active patrol before any later control action.

The HTTP surface provides GET /waypoints, GET /patrol/zones, POST /patrol/zones/:zone_id/start, GET /patrol/status, and POST /patrol/stop. The operator shows every configured zone, its waypoint count, start/stop controls, and the current zone status.

External motion workers use the same leash-worker-frame-v1 envelope as perception workers. motion input payloads contain an image observation; motion-events outputs contain passive MotionEvent records and have no control fields. TelemetryFrame.motion_events carries these observations to HTTP, stream, operator, recording, and replay consumers. The checked-in examples/workers/sim-motion-output.json fixture demonstrates the wire shape.