fix(perception): reconstruct rolling occupancy from K1 increments

tests/test_replay_threat_provider.py

@@ -28,6 +28,7 @@ from k1link.perception.threat import (
 
 REPOSITORY_ROOT = Path(__file__).resolve().parents[1]
 PROFILE_PATH = REPOSITORY_ROOT / "config/perception/m4-replay-threat-v2.json"
+ROLLING_PROFILE_PATH = REPOSITORY_ROOT / "config/perception/m4-replay-threat-v3.json"
 
 
 class _BodyFrames:
@@ -61,7 +62,7 @@ def _obstacle(
         component_id=component_id,
         identity_scope="ephemeral",
         state=state,
-        ttl_ns=750_000_000,
+        ttl_ns=(3_000_000_000 if state is TemporalState.RETAINED else 750_000_000),
         last_hit_ns=current.evidence_time_ns,
         age_ns=0 if state is TemporalState.CURRENT else 100_000_000,
         association_basis="test-spatial-support",
@@ -307,3 +308,32 @@ def test_semantic_hint_and_ephemeral_component_name_do_not_change_threat_geometr
     assert values[0].relative_speed_mps == values[1].relative_speed_mps
     assert values[0].closest_approach_m == values[1].closest_approach_m
     assert values[0].ttc_seconds == values[1].ttc_seconds
+
+
+def test_retained_map_can_block_but_cannot_claim_clear_or_motion() -> None:
+    provider = DualEvidenceReplayThreatProvider(
+        body_frame_resolver=_BodyFrames(),
+        profile=load_replay_threat_profile(ROLLING_PROFILE_PATH),
+    )
+    retained_in = _obstacle(
+        "retained-in",
+        GridCell(6, 0, 0),
+        motion=MotionState.UNKNOWN,
+        history=(("frame-000002", 300_000_000, (2.925, 0.225, 0.225)),),
+        state=TemporalState.RETAINED,
+    )
+    retained_out = _obstacle(
+        "retained-out",
+        GridCell(6, 7, 0),
+        motion=MotionState.UNKNOWN,
+        history=(("frame-000002", 300_000_000, (2.925, 3.375, 0.225)),),
+        state=TemporalState.RETAINED,
+    )
+
+    values = provider.assess(_map(occupied=(retained_in, retained_out)))
+    by_id = {item.component_id: item for item in values}
+
+    assert by_id["retained-in"].decision is ThreatDecision.THREAT
+    assert by_id["retained-in"].relative_speed_mps is None
+    assert by_id["retained-out"].decision is ThreatDecision.UNKNOWN
+    assert by_id["retained-out"].corridor_intersection is CorridorIntersection.UNKNOWN