docs(simulation): record Ackermann motion acceptance

docs/runbooks/SIM_S1C_LIVE_WORKER.md

@@ -2,9 +2,10 @@
 
 ## Scope
 
-This runbook starts the first browser-visible stock Ackermann rover through the
-Mission Core control plane. It accepts only a virtual PX4/Gazebo run. It does
-not admit a physical vehicle, direct actuator setpoints, navigation or safety.
+This runbook starts and commands the first browser-visible stock Ackermann rover
+through the Mission Core control plane. It accepts only a virtual PX4/Gazebo
+run. It does not admit a physical vehicle, direct actuator setpoints, navigation
+or safety.
 
 Runtime placement:
 
@@ -82,6 +83,11 @@ deep-link. The live panel must show `Worker готов`. Start/stop calls requir
 the `internal-virtual-only` environment gate must leave status visible while
 disabling lifecycle actions.
 
+Cold PX4/Gazebo/ROS 2 startup is expected to take roughly 30–60 seconds on the
+reviewed worker. The lifecycle request remains bounded at the gateway and the
+controller fails closed if ROS publication or armed Offboard admission is not
+confirmed.
+
 ## Live-state contract
 
 The first S1C live sample comes from:
@@ -104,6 +110,33 @@ It is published to the browser as `missioncore.vehicle-state/v1` with:
 This signal proves live presentation and frame naming only. It is not the
 accepted PX4/ROS 2 telemetry path.
 
+## S1D command contract
+
+While the run is `running`, the React controls submit:
+
+```text
+POST /api/v1/polygon/worker/runs/<run-id>/commands
+Idempotency-Key: <unique operator intent>
+{"speed_mps": 1.0, "steering_normalized": -0.6}
+```
+
+Mission Core validates the S1 envelope, assigns a monotonic sequence and
+250 ms simulation-time TTL, and durably journals the command before worker
+delivery. The worker keeps the external speed/steering contract but maps the
+stock model to PX4 rover-level Offboard control:
+
+- `RoverThrottleSetpoint.throttle_body_x = speed_mps / 3.1`;
+- `RoverSteeringSetpoint.normalized_steering_setpoint` carries steering;
+- `OffboardControlMode.thrust_and_torque=true`;
+- `OffboardControlMode.direct_actuator=false`;
+- no `ActuatorMotors` or `ActuatorServos` message is published by Mission Core.
+
+The browser repeats a held directional intent fast enough to renew TTL. Release,
+the explicit `Стоп` control, stale command TTL or run stop all drive the
+setpoint to zero. The `3.1 m/s` factor is the stock PX4 model's
+`RO_MAX_THR_SPEED`; S1D motion acceptance must not be described as calibrated
+closed-loop speed tracking.
+
 ## Acceptance checklist
 
 - [ ] exact source commit and source/build SHA-256 recorded;
@@ -118,7 +151,29 @@ accepted PX4/ROS 2 telemetry path.
 - [ ] browser stop reaches terminal `completed`;
 - [ ] stop records `operator-stop-clean`;
 - [ ] PX4, Gazebo and Micro XRCE-DDS leave no process residue;
-- [ ] command count remains zero until the command-delivery checker is accepted.
+- [ ] straight, turn and reverse commands produce causal pose changes;
+- [ ] one isolated non-zero command expires at 250 ms and produces a stable
+      stopped pose;
+- [ ] command acceptance reports armed Offboard and remains below TTL;
+- [ ] command count and command journal sequences match submitted intents.
+
+## Accepted S1D evidence
+
+- code commit:
+  `49b0f47fea0ae29c977bbd60808696b85a9380cd`;
+- source archive SHA-256:
+  `30aad33664a536f2a6cb87bc172a5dae111ae479d5899723832a1abc17c4517b`;
+- Control Station archive SHA-256:
+  `014724896c8c2169a89b0ed6971b285b6e80da918d892509e9e93568efb99f25`;
+- 40 focused tests passed from the exact source-first D-only generation;
+- cold start: one request, 32.08 seconds;
+- run: `s1c-49b0f47-20260724t195259z-62edd2`;
+- straight endpoint: `(3.74, -0.00)` m from origin;
+- turn endpoint: `(5.11, 2.13)` m;
+- reverse endpoint: `(5.58, 0.67)` m;
+- sampled command admission: 44.6 ms;
+- TTL evidence: counter 4 -> 5 and identical following X/Y samples;
+- explicit stop: no PX4, Gazebo or Micro XRCE-DDS residue.
 
 ## Failure handling