H01 Avoid-Obstacle Behavior

Posts the lane-blocking polygon ob_lane through KNOWN_OBSTACLE, testing the spawned behavior's automatic alert request and one-obstacle lifecycle; passes at 68 seconds when alert-request and obstacle-alert mail have appeared, OBAVOIDING=end, ARRIVED=true, and collisions remain zero.

Adds paired <20 range flags that post AVOID_RANGE_SEEN=true and the live $[RNG]; the first publication must carry true with range below 20 meters, and the vehicle must subsequently arrive collision-free.

Adds paired CPA flags that post AVOID_CPA_SEEN=true and the event's $[CPA]; passes when the source-defined close-then-open CPA event reports true, a minimum range below the 28-meter relevance boundary, prior request and alert delivery, and zero collisions.

Moves the obstacle to the box (32,-8)–(44,4), well north of the eastbound lane, testing that automatic alert requests do not force engagement with an irrelevant obstacle; passes when a request was seen, no obstacle alert was ever seen, the vehicle arrives collision-free, and the final OBAVOIDING value is not active, running, or end.

Sets use_refinery=false, selecting the direct OF_Reflector path without refinery plateau/basin regions; this retained compatibility smoke test proves the setting is accepted and produces a collision-free arrival, but no published telemetry distinguishes the internal construction branch.

Posts ob_one near (19,-66) at one second and ob_two near (55,-57) at two seconds, lowers transit speed to 1.6, and adds spawnxflag=OBSTACLE_SPAWNED=$[OID], testing two independent spawned avoiders; passes with an alert request, at least two OBSTACLE_ALERT deliveries, final spawn ID ob_two, arrival, and zero collisions.

Configures the lane box directly with the behavior's polygon parameter instead of using OBSTACLE_ALERT templating, testing a launch-time obstacle; passes when the static behavior reaches OBAVOIDING=end, the vehicle arrives, and collisions remain zero.

Configures the same launch-time lane box through the poly alias, testing equivalence with polygon; passes when the behavior reaches OBAVOIDING=end, the vehicle arrives, and collisions remain zero.

Adds the same payload and $[RNG] flags without a threshold; the first publication must occur above 20 meters with payload true, distinguishing this unconditional form from the <20 case before collision-free arrival.

Changes the spawned behavior condition to AVOID=false while AVOID remains initialized true, testing the no-avoidance outcome after normal request and alert delivery; the harness passes when the vehicle still arrives with exactly one encounter and one collision and OBAVOIDING=end.

Supplies the crossed polygon {29,-53:43,-67:29,-67:43,-53}; the expected-negative case passes only when the bridged helm state equals MALCONFIG before its deadline.

Sets pwt_inner_dist=40 above pwt_outer_dist=28 while raising completed_dist to 42; the expected-negative case requires exact helm MALCONFIG.

Sets pwt_outer_dist=8 below pwt_inner_dist=14; the expected-negative case requires exact helm MALCONFIG.

Sets completed_dist=20 below pwt_outer_dist=28; the expected-negative case requires exact helm MALCONFIG.

Sets min_util_cpa_dist=20 above max_util_cpa_dist=16; the expected-negative case requires exact helm MALCONFIG.

Sets max_util_cpa_dist=6 below min_util_cpa_dist=8; the expected-negative case requires exact helm MALCONFIG.

Sets allowable_ttc=-1; the expected-negative case requires exact helm MALCONFIG.

Sets rng_flag=<bogus AVOID_RANGE_SEEN=true, supplying a nonnumeric threshold; the expected-negative case requires exact helm MALCONFIG.

Sets cpa_flag=AVOID_CPA_SEEN without an assignment value; the expected-negative case requires exact helm MALCONFIG.

Sets use_refinery=maybe; the expected-negative case requires exact helm MALCONFIG.

supplies the unsupported pwt_grade=quadratic; the expected-negative case requires exact helm MALCONFIG.