feat: Phase D — RL integration (training, benchmark, visualization)#1

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Balghanimi wants to merge 10 commits intomainfrom

feat/phase-d-rl-integration

Commits on Mar 19, 2026

docs: add Phase D (RL integration) design spec

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docs: add Phase D implementation plan (10 tasks, TDD)

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feat: add SurfaceDiscoveryEnv for RL surface discovery

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fix: use plant.electromagnetic_torque() in PMSM edot computation

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feat: add PPO/SAC surface training pipeline

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feat: add SAC loading fallback and 4D obs padding to RLDiscoveredSurface

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feat: add benchmark suite -- RL vs 17 controllers x 5 plants

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feat: add RL visualization module — heatmaps, radar, contours, bars

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feat: complete Phase D integration — public API, deps, examples

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fix: replace lazy __getattr__ imports with conditional eager imports

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