feat(simulation): add Worker AI polygon runtime and terrain navigation

tests/test_ai_polygon_motion.py

@@ -0,0 +1,40 @@
+"""The actuator may soften acceleration but must never prolong a safety command."""
+
+import importlib.util
+from pathlib import Path
+
+import pytest
+
+spec = importlib.util.spec_from_file_location(
+    "motion_control", Path(__file__).parents[1] / "simulation/ai-polygon/motion_control.py"
+)
+module = importlib.util.module_from_spec(spec)
+spec.loader.exec_module(module)
+
+
+def test_slow_perception_keeps_continuous_physics_command():
+    drive = module.DriveEnvelope()
+    rows = [drive.step(0.15, 0, 1 / 60)[0] for _ in range(180)]
+    assert rows[0] == pytest.approx(0.2 / 60)
+    assert all(0 <= b - a <= 0.2 / 60 + 1e-9 for a, b in zip(rows, rows[1:], strict=False))
+    assert rows[44:] == pytest.approx([0.15] * 136)
+
+
+def test_braking_and_deadman_bypass_ramp():
+    drive = module.DriveEnvelope()
+    for _ in range(60):
+        drive.step(0.15, 0, 1 / 60)
+    assert drive.step(0.03, 0, 1 / 60) == (0.03, 0)
+    assert drive.step(0.15, 0.2, 1 / 60, stop=True) == (0, 0)
+    assert drive.wheels == (0, 0)
+    assert drive.step(0.15, 0, 1 / 60)[0] == pytest.approx(0.2 / 60)
+
+
+def test_curvature_and_direction_change():
+    drive = module.DriveEnvelope()
+    for _ in range(60):
+        speed, yaw = drive.step(0.15, 0.2, 1 / 60)
+        assert yaw / speed == pytest.approx(0.2 / 0.15)
+    speed, yaw = drive.step(-0.15, -0.2, 1 / 60)
+    assert speed < 0 and yaw < 0
+    assert max(map(abs, drive.wheels)) <= 0.2 / 60 + 1e-9