fix: stabilize stopped-start EM planning and add txt diagnostics

ClumsyPilot/ParkrobTrajplanner/tarjplanner_movementtest/README.md

@@ -10,6 +10,10 @@ diagnostic prediction only. Goal and rolling-safety-stop commands are logged, ne
 gear-switch trajectory, the observer remains on the current direction segment and waits for real direction confirmation;
 it does not create or dispatch a direction-change action.
 
+Every frozen observation session writes a text report to
+`TrajectoryObservationReports/trajectory-observation-session-<id>.txt` in the process working directory when the
+session stops; the report path is printed to the console.
+
 ## FullDirectionSegment observation (default)
 
 `UseFullDirectionSegmentPlanning=true` maps to `EmPlanningScope.FullDirectionSegment`. MovementTest performs one frozen
@@ -20,8 +24,7 @@ and zero-speed hold behavior instead of being forced by a legacy time horizon.
 
 `DistanceHorizonMeters` and `TimeHorizonSeconds` are rolling-compatible fields and do not truncate full mode. Forward
 desired/hard maximum speed is `1.0 m/s`; reverse desired/hard maximum speed is `0.5 m/s`. A successful real boundary
-requires a terminal stop plus world-position error no greater than `0.03 m` and normalized yaw error no greater than
-`5 deg` (`5 * PI / 180 rad`).
+requires a terminal stop plus exact world-position and normalized yaw matching (`0 m` / `0 rad`).
 
 ## Rolling trajectory observation