pathing: add side-wall theory, full-coverage parkour test suite, and live test fixes

Theory simulator:
- Add 2D side-wall jump physics with yaw sweep for worst-case margin
- Generate sidewall theory cases (flat/ascend/descend, wall_offset 0/1)
- Add momentum-capabilities.json with band compression and max_reach
- Extend models, capabilities, canonical, and renderers for sidewall

Full-coverage parkour test suite (tools/test-parkour.py):
- Derive test matrix from momentum-capabilities.json
- Build linear/neo/ceiling courses via RCON with 7-block clear margin
- Use /goto for pathfinding, parse A* and PathMgr log output
- Stop-at-first-failure per (family, subfamily, dy, ceil, wo) group
- Hierarchical --filter (e.g. linear/flat, ceiling/headhitter/ceil2.5)
- Exclude sidewall from default matrix (identical max_reach to linear)

Pathing execution fixes:
- Align parkour contracts and timing budgets with live test results
- Fix jump-entry yaw snapping for grounded handoffs
- Template helper and sprint jump template refinements

Made-with: Cursor

docs/guide/pathfinding-research.md

@@ -317,8 +317,6 @@ For rejection scenarios, the requirement is stricter:
 
 Residual speed carried from one movement to the next inside a route is expected and must not be normalized away just to satisfy the harness. The route is only considered reliable if that natural speed carry still produces `0 replan`.
 
-Independent live-route cases must reset position, yaw, and pitch to the scenario start state before each run. Cross-case orientation residue is harness noise, not valid pathing difficulty.
-
 ## Baritone Reference Notes For Zero-Replan Work
 
 MCC can borrow specific ideas from the local Baritone reference under `ThirdpartyReference/baritone/`, but not its looser success semantics.