Simulator: balance default angular motion against magnetometer noise

[tribbloid]

Source: Packages/ARGlassesSDK/__module~/driver/src/sim/TODO.md

The default 1 RPM-per-axis limit changes the ideal field by much less than the 1.5 microtesla noise between magnetometer samples, so apparent diversity is noise-dominated.

Acceptance criteria:

• Set the default maximum body rate to a justified value in the recommended 10-20 RPM-per-axis range.
• Update documentation/invariants that still claim the old 2 RPM limit.
• Add or update tests for the default bound and for signal change relative to configured noise.
• Preserve deterministic behavior and configuration normalization.
• Run formatting, checks, tests, and clippy applicable to the driver crate.

[tribbloid]

Review Verdict: Issue #2 FIXED

Acceptance Criteria

1. Default body rate set to 20 RPM -- PASS

   • \DummyConfig::default()\ changed \max_body_rate_rpm\ from \1.0\ to \20.0\ (within the 10-20 RPM recommended range).
   • \src/sim/dummy.rs:74\

2. Documentation updated -- PASS

   • \src/sim/AGENTS.md:17-19: updated from "no faster than 2 RPM" to "defaults to 20 RPM so ideal magnetometer changes are not dominated by the default sample noise".
   • \DummySnapshot::angular_rate_rub\ doc updated from "Fixed" to "Current" (\src/sim/dummy.rs:112).

3. Tests added for default bound and signal change vs noise -- PASS

   • \default_body_rate_is_bounded_at_twenty_rpm_per_axis: asserts default == 20.0 and all components > 0 and <= max_rad_per_sec.
   • \default_motion_changes_ideal_magnetic_signal_more_than_configured_noise: collects two ideal magnetometer samples and asserts ideal signal change > configured 1.5 uT noise.

4. Deterministic behavior and config normalization preserved -- PASS

   • Default seed unchanged. \sample_angular_rate_schedule\ uses seeded \rom_fn.
     ormalize_config\ unchanged.

5. Formatting / checks / tests / clippy -- PASS (focused, see below).

Broad Command Results

Command	Result
\cargo fmt --all -- --check\	FAIL (pre-existing: import ordering in examples/connection.rs/ffi.rs, newline styles)
\cargo check --all-targets --all-features\	FAIL (pre-existing: \DegenerateCalibrationSamples\ variant missing in \mag_calibration_test.rs)
\cargo test --all-targets --all-features\	FAIL (same pre-existing compilation error blocks test binary)
\cargo clippy --all-targets --all-features -- -D warnings\	FAIL (same pre-existing error + many unrelated baseline lint warnings)

All broad-command failures are pre-existing baseline issues unrelated to issues #1 or #2.

Focused Test Evidence

Temporarily isolated the blocker (\mag_calibration_test.rs), ran focused lib tests:

\
running 8 tests
test sim::dummy::dummy_tests::starts_level_with_felt_gravity_up_frd ... ok
test sim::dummy::dummy_tests::starts_with_magnetic_north_forward_frd ... ok
test sim::dummy::dummy_tests::default_hard_iron_bias_is_under_50_microtesla ... ok
test sim::dummy::dummy_tests::default_body_rate_is_bounded_at_twenty_rpm_per_axis ... ok
test sim::dummy::dummy_tests::default_motion_changes_ideal_magnetic_signal_more_than_configured_noise ... ok
test sim::dummy::dummy_tests::gyro_matches_each_integrated_angular_rate ... ok
test sim::dummy::dummy_tests::soft_iron_is_fixed_positive_definite_and_bounded ... ok
test sim::dummy::dummy_tests::trajectory_covers_roll_pitch_yaw_and_non_planar_magnetometer_space ... ok

test result: ok. 8 passed; 0 failed; 0 ignored; 0 measured; 4 filtered out
\\

All 8 tests pass. The 4 filtered tests are non-dummy tests. File set restored to original uncommitted diff (only \src/dummy_tests.rs, \src/sim/AGENTS.md, \src/sim/dummy.rs).

Deletion Attempt

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