MapVisualizer (lazy rerun-sdk, lerobot[viz]) streams the map as it builds:
voxel cloud (RGB or recency colormap), robot pose, top-down occupancy,
planned path, and the located target. The dynamic part is visible — each
keyframe re-logs the full snapshot so carved voxels vanish, and this
frame's removed voxels flash red under world/carved.
Wired into LiveMapper.tick (per-keyframe map/removed/robot) and
DogController (map/occupancy/robot/target/path after each action), behind
a --viz flag (+ --color-mode rgb|recency) on dog-nav; works in --dry-run,
--map-only, and --live. Headless tests (spawn=False) cover the log paths
and a full dry-run navigate-with-viz. 140 tests in tests/navigation/.
Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
Pepijn