docs(simulation): record Ackermann motion acceptance

docs/01_IMPLEMENTATION_PLAN.md

@@ -24,7 +24,7 @@ Each gate produces evidence and an explicit GO, PAUSE or BLOCKED result.
 | Plugin isolation | GO (laboratory control plane) — vendor backend/frontend and optional scene controls are plugin-owned; manifest/runtime descriptor parity, versioned handshake, lifecycle health and transport correlation fail closed while execution remains in-process |
 | K1 application control | GO (physical staged cycle) — after fixing the PCAP-proven `sint64` time field, one explicit UI launch completed all 14 canonical operations on one control session, reached live `SCANNING + project + init_ready`, displayed real points, then one explicit STOP returned K1 to unbound `READY`. No retry or fallback command was sent. Native-project reuse through LixelGO/USB remains an independent verification |
 | Stage 8 product storage | PAUSE — retention, replication, encryption, capacity monitoring and long-run browser/WASM stress remain deployment gates |
-| Simulation Polygon | SIM S0 GO; S1A complete; S1B lifecycle PASS; S1C registered live worker PASS; UI-2 browser surface PASS — exact commit `60e7916` passed 35 focused tests on the immutable D-only generation, 157 frontend tests and the 705-test backend suite. A capability-gated `Полигон` root now opens one direct workspace with a procedural 3D Ackermann Rover, 360° azimuth orbit, bounded vertical orbit, zoom, pan and live diagnostic ENU state. UI-driven run `s1c-60e7916-20260724t182006z-2f164e` reached `completed` after 27.74 seconds of Gazebo time with eight events, zero commands and zero provider residue. PX4 command delivery/motion, canonical PX4/ROS 2 telemetry, pause/step/reset, watchdog/failsafe, navigation/safety acceptance, shared-deployment auth/RBAC and real actuator authority remain absent |
+| Simulation Polygon | SIM S0 GO; S1A complete; S1B lifecycle PASS; S1C registered live worker PASS; UI-2 browser surface PASS; S1D Ackermann command/motion slice PASS — exact code generation `49b0f47` passed 40 focused tests on the immutable D-only generation. The capability-gated `Полигон` root owns one procedural 3D Ackermann Rover workspace with full azimuth/vertical orbit, zoom, pan, follow/reset and live diagnostic ENU state. Cold start completed in one request after 32.08 s. Run `s1c-49b0f47-20260724t195259z-62edd2` proved 3.74 m straight motion, a curved turn, reverse, 44.6 ms sampled command admission, 250 ms TTL expiry and clean zero-residue stop through PX4 rover-level Offboard throttle/steering setpoints. Differential Rover, calibrated closed-loop speed, canonical PX4/ROS 2 telemetry, pause/step/reset, heartbeat/offboard/link-loss cases, navigation/safety acceptance, shared-deployment auth/RBAC and real actuator authority remain absent |
 
 USB project copying remains optional ground truth rather than a blocker for the
 now-verified network path. Owner-operated LixelGO traffic verifies the MQTT
@@ -168,9 +168,21 @@ top-level product root and replaces the diagnostic 2D marker with a
 browser-native Three.js Ackermann Rover scene. The exact D-only generation
 passed 35 target tests and one UI-driven provider run with diagnostic Gazebo
 `VehicleState`, eight persisted lifecycle events, terminal `completed` and zero
-process residue. Its zero-command stationary rover does not close PX4 command
-delivery, canonical PX4/ROS 2 telemetry, pause/step/reset, heartbeat/watchdog or
-failsafe checkers; these remain the next S1 increments.
+process residue.
+
+S1D exact code generation `49b0f47` adds the bounded
+`missioncore.ackermann-command/v1` browser-to-worker path and the first physical
+motion evidence. Mission Core keeps the external command in metres per second
+plus normalized steering, journals it append-only, applies a 250 ms TTL and
+maps it on the worker to stock-model PX4 rover Offboard throttle/steering
+setpoints. PX4 still owns arming, Offboard state and control allocation; Mission
+Core does not publish direct actuator topics. The exact D-only target passed 40
+focused tests. Its first cold start took 32.08 seconds, and run
+`s1c-49b0f47-20260724t195259z-62edd2` proved straight, turn, reverse, TTL stop
+and zero-residue lifecycle shutdown. This closes only the primary Ackermann
+command/motion slice. Differential Rover, calibrated speed tracking, canonical
+PX4/ROS 2 telemetry, pause/step/reset, heartbeat/offboard/link-loss and
+failsafe cases remain open before S1 can pass.
 
 The archival surface consumes the same append-only run repository through
 `GET /api/v1/polygon/runs` and