[AZ-700] gps-denied-render-map: HTML map of estimated vs truth tracks

New operator-side console-script renders a self-contained HTML map
(folium / Leaflet) comparing the estimator's JSONL track against
the tlog ground-truth track. Pinned visual style: red truth + blue
estimated polylines, start/end markers per track, 100 m + 50 m
scale circles, optional AZ-699 accuracy-summary banner, and an
--offline-tiles mode (with optional local tile-URL template) for
Jetsons without internet.

folium is gated behind a new [operator-tools] optional-dep so the
airborne binary's cold-start NFR is unaffected (C12 binary doesn't
import the new module). 14 new unit tests pin polyline count,
marker count, scale-circle radii, summary embedding, offline-tile
behaviour, and full CLI smoke. Zero mypy --strict errors.

Refines the 2026-05-20 Jetson-only test policy: unit tests may run
locally, e2e/perf/resilience/security stay Jetson-only. Documented
in _docs/02_document/tests/environment.md (Where each tier runs)
and .cursor/rules/testing.mdc (Test environment for this project).

Co-authored-by: Cursor <cursoragent@cursor.com>

_docs/03_implementation/batch_101_cycle2_report.md

@@ -0,0 +1,93 @@
+# Batch 101 — Cycle 2 — AZ-700
+
+**Date**: 2026-05-20
+**Tasks**: AZ-700 (replay map visualization).
+**Story points**: 3.
+**Jira status**: AZ-700 → `In Testing`.
+
+## What shipped
+
+A new operator-side console-script `gps-denied-render-map` that
+renders a self-contained HTML map (folium / Leaflet) of the
+estimator's track vs the tlog ground-truth track, with start/end
+markers, 100 m + 50 m scale circles, optional summary banner from
+AZ-699, and an `--offline-tiles` mode for Jetsons without internet
+access.
+
+folium is gated behind a new `[operator-tools]` optional-dependency
+group so the airborne binary never pays for it.
+
+## Files changed
+
+Production (2):
+
+- `src/gps_denied_onboard/cli/render_map.py` (new)
+- `pyproject.toml` (new optional-deps group + console script)
+
+Tests (1):
+
+- `tests/unit/test_az700_render_map.py` (14 tests, all PASS local)
+
+Docs:
+
+- `_docs/02_document/tests/environment.md` — refined the 2026-05-20
+  "Jetson-only" policy to: unit tests local-OK, e2e Jetson-only.
+- `.cursor/rules/testing.mdc` — added the refined policy as an
+  always-applied agent rule.
+- `_docs/02_tasks/done/AZ-700_replay_map_visualization.md` —
+  Implementation Notes appended; moved from `todo/`.
+
+## AC coverage
+
+| AC   | Test / Artefact                                                                          | Result |
+| ---- | ---------------------------------------------------------------------------------------- | ------ |
+| AC-1 | `test_cli_writes_html_with_default_tiles`                                                | PASS (local).  |
+| AC-2 | `test_render_map_html_emits_two_polylines`, `…emits_four_markers_and_two_circles`        | PASS   |
+| AC-3 | `test_render_map_html_emits_two_polylines`, `…emits_four_markers_and_two_circles`        | PASS — exactly 2 polylines + 4 markers + 2 scale circles. |
+| AC-4 | Visual smoke on Tier-2 Jetson with operator-opened `map.html`                            | DEFERRED to Jetson (correctly per refined test-env policy).  |
+| AC-5 | `test_render_map_html_offline_tiles_omits_openstreetmap`, `…_template_uses_local_url`    | PASS   |
+
+## Test run
+
+```
+tests/unit/test_az700_render_map.py        14 PASS in 2.5 s
+Wider regression slice                    107 PASS  1 SKIP
+```
+
+The 1 skipped test is the pre-existing AZ-698 AC-5 e2e smoke
+(needs the real video in `_docs/00_problem/input_data/flight_derkachi/`).
+
+## Strict typing
+
+```
+mypy --strict src/gps_denied_onboard/cli/render_map.py
+→ Success: no issues found in 1 source file.
+```
+
+The lazy folium import uses
+`# type: ignore[import-untyped, import-not-found, unused-ignore]`
+so strict passes cleanly whether or not `[operator-tools]` is
+installed.
+
+## Refined test-environment policy
+
+Mid-batch the user clarified the existing "Jetson-only across all
+tiers" policy: **unit tests may run locally, e2e tests stay
+Jetson-only.** Rationale: the unit suite is fully synthetic, so a
+local PASS = Jetson PASS for that tier; the e2e suite is bound to
+Jetson hardware / latency / SITL and a local run is meaningless.
+
+Captured in:
+
+- `_docs/02_document/tests/environment.md` — banner + new
+  "Where each tier runs (active policy)" table + Test Execution
+  section rewritten.
+- `.cursor/rules/testing.mdc` — appended "Test environment (this
+  project)" section so future agent sessions cannot drift back to
+  running e2e locally.
+
+## Next batch
+
+Batch 102 — **AZ-701** (HTTP replay API service). Depends on
+AZ-697 (truth source) and AZ-699 (report writer). Last task in
+cycle 2.