feat(simulation): qualify D-only stock rover smoke

docs/adr/0015-simulation-polygon-qualification-boundary.md

@@ -44,13 +44,20 @@ reports easy to misuse.
 9. Source-of-record, derived artifacts and presentation state remain separate.
    Reset creates a new immutable run/episode.
 10. Ground truth is evaluator-only and is not visible to perception or planning.
-11. SIM S0 targets the reviewed Windows 11/WSL2 AI worker with all mutable bytes
-    physically under `D:\NDC_MISSIONCORE`.
-12. S1 uses exact `px4_msgs` directly. The experimental
+11. SIM S0 targets the reviewed Windows 11 worker through a dedicated
+    `MissionCore-Sim` WSL2 Ubuntu 24.04 distribution physically under
+    `D:\NDC_MISSIONCORE`.
+12. SIM S0 does not depend on the existing Docker Desktop runtime. Its WSL
+    backend is C-backed and currently serves unrelated co-tenants.
+13. S1 uses exact `px4_msgs` directly. The experimental
     `px4-ros2-interface-lib` is not a mandatory S1 dependency.
-13. A top-level Polygon UI is gated on accepted contracts and a proven S1
+14. A top-level Polygon UI is gated on accepted contracts and a proven S1
     backend lifecycle with persisted run history.
-14. Real actuator authority requires a new decision and physical safety gate.
+15. Real actuator authority requires a new decision and physical safety gate.
+16. S0 processes run inside an ephemeral loopback-only Linux network namespace.
+    Micro XRCE-DDS Agent's UDP wildcard bind is acceptable only inside that
+    boundary; no S0 listener may be reachable from the worker LAN or Windows
+    host network.
 
 ## Consequences
 
@@ -67,7 +74,7 @@ reports easy to misuse.
 
 ## First implementation
 
-The first implementation is deliberately read-only:
+The qualification doctor is deliberately read-only:
 
 - `simulation/s0/qualification-profile.yaml` is the candidate stack,
   storage, clock, authority, port and process contract.
@@ -77,6 +84,12 @@ The first implementation is deliberately read-only:
   starting or modifying anything.
 - MISSIONCOR-40 tracks factual worker qualification.
 
+The first target bootstrap also includes `simulation/s0/worker-smoke.sh`. It
+creates the reviewed loopback-only namespace, starts only the pinned stock-rover
+providers, observes ROS 2 vehicle status and Gazebo clock, requests PX4 shutdown,
+checks for owned-process residue and writes D-only factual artifacts. It never
+arms the vehicle or sends an actuator command.
+
 The doctor reports `INCOMPLETE` until it is running on the reviewed target with
 resolved/accepted pins and all required evidence. It cannot infer `GO` from the
 repository state.