docs(simulation): accept Polygon SIM S0
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DCCONSTRUCTIONS
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# Lab 007: SIM S0 acceptance
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Date: 2026-07-24 (Europe/Moscow).
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## Scope
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This lab closes the infrastructure qualification gate for Mission Core
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Polygon. It validates the exact D-only worker profile, stock PX4 Ackermann
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runtime, ROS 2 telemetry, Gazebo time control, 1×/2× resource behavior,
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deterministic shutdown and digest-bound evidence admission.
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It does not accept S1 orchestration, rover command behavior, Nav2 navigation,
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safety behavior, HIL, physical shadow or real actuator control.
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`actuator_authority=false` throughout.
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## Accepted profile
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- profile ID: `ai-worker-px4-gazebo-v1`;
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- profile SHA-256:
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`aeecf5005301db230e1340b85215cbbd862b72974a22b8c43767c28be8453e2f`;
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- evidence tooling commit:
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`2548bb57403411ce9c8374151e3bfa34ac0866ee`;
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- target: dedicated Docker-free `MissionCore-Sim` WSL2 Ubuntu 24.04 on D;
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- all seven component pins: resolved and `accepted`;
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- all seven mutable roots: present under `/mnt/d/NDC_MISSIONCORE`;
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- disk at final doctor: 365.55 GiB free, above the 300 GiB start and
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200 GiB stop thresholds.
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Exact ROS 2, Gazebo, PX4, `px4_msgs`, PX4 Gazebo model, Micro XRCE-DDS Agent and
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Nav2 versions remain recorded in the qualification profile and Lab 006.
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## Accepted runs
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The exact accepted-profile generation produced two immutable runs:
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- `20260724T155000Z-accepted-1x`;
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- `20260724T160000Z-accepted-2x`.
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Both runs passed:
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- stock world `rover`, model `rover_ackermann_0`;
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- PX4 v1.17.0 and Micro XRCE-DDS session;
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- ROS 2 `/fmu/out/vehicle_status_v1`;
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- authoritative Gazebo `/clock`;
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- loopback-only network namespace;
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- pause, single-step and declared speed behavior;
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- structured resource baseline;
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- clean shutdown with no owned process residue.
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The vehicle stayed disarmed. No actuator command was issued.
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## Time acceptance
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| Case | Pause advance | Single step | Measured RTF | Accepted range |
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| --- | ---: | ---: | ---: | ---: |
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| 1× | 0 ns | +2,000,000 ns / +1 iteration | 0.981913 | 0.8–1.2 |
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| 2× | 0 ns | +2,000,000 ns / +1 iteration | 1.967258 | 1.6–2.4 |
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Gazebo `/clock` is the closed-loop simulation authority. The zero pause
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advance and exact 2 ms single-step are observed deltas, not inferred settings.
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## Resource acceptance
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| Metric | 1× | 2× | Contract |
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| --- | ---: | ---: | ---: |
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| Samples at 500 ms | 15 | 15 | at least 6 |
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| Peak owned RSS | 407,629,824 B | 408,756,224 B | at most 2 GiB |
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| Peak owned CPU | 101.8% | 169.2% | at most 800% |
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| Minimum available WSL RAM | 28,437,897,216 B | 28,662,071,296 B | at least 8 GiB |
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| Minimum D free | 392,613,560,320 B | 392,568,233,984 B | at least 200 GiB |
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| Maximum swap used | 0 B | 0 B | observed |
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Global GPU context peaked at 13,579 MiB used and 52% utilization in both cases.
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Those values include unrelated co-tenants and are intentionally not attributed
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to headless S0.
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## Evidence admission
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The private D-only evidence generation contains nine redacted JSON artifacts
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and one manifest, approximately 100 KiB total:
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1. worker inventory;
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2. D-only physical placement;
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3. PX4 stock-rover launch;
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4. ROS 2 telemetry;
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5. authoritative simulation clock;
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6. pause/step/speed;
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7. clean stop with no orphans;
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8. 1× resource baseline;
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9. 2× resource baseline.
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Every manifest entry is `pass`, names a confined regular file and binds its
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SHA-256. The manifest binds the accepted profile SHA-256. Failed diagnostic
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generations were not reused.
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## Target doctor
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The read-only doctor returned:
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```text
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verdict=go
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target_host_match=true
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profile-contract=pass
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authority-contract=pass
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clock-contract=pass
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port-registry=pass
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process-registry=pass
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target-host=pass
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d-only-storage=pass
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disk-budget=pass
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version-lock=pass
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required-tools=pass
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factual-evidence=pass
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```
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The persisted redacted `doctor.json` SHA-256 is
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`6a2571bd7af0e85b1345201068ccd4bffa215f84a8a9f62a4357d5dbfa236c6c`.
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## Verdict
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`GO` for SIM S0 infrastructure qualification.
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The next permitted product phase is SIM S1: server-owned start/pause/resume/
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step/reset/stop, immutable `QualificationRun`, canonical Ackermann and
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Differential rover commands, TTL/heartbeat/watchdog, stop-on-loss and captured
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PX4 failsafe behavior. No real-control permission is created by this verdict.
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