helpy4/Minecraft-Console-Client
1
0
Fork 0
mirror of https://github.com/MCCTeam/Minecraft-Console-Client synced 2026-08-29 13:04:59 +00:00
Code Issues Projects Releases Packages Wiki Activity Actions 2

pathing: stabilize 0-replan round-trip on ledge/descend runs

Browse source 
Fix a cluster of execution-layer issues that caused replans and void
falls when traversing narrow ledges and multi-block descents between
(251.5,141,210.5) and (252.5,138,220.5):

- WalkTemplate / GroundedSegmentController: suppress the pre-rotation
  bias toward the next segment's exit heading on stable-footing Turn
  exits where the next segment is not a jump.  The next template
  snaps yaw on its first tick anyway, and pre-rotating mid-stride on
  a 1-block walkway pushes sprint drift perpendicular to the path and
  walks the bot off the edge.  Turn exits into a jump still get the
  bias so the takeoff direction stays aligned.

- GroundedSegmentController.ShouldComplete: relax the headingReady
  gate for Turn exits with stable footing so the segment can complete
  once yaw is aligned with either the current or the next segment
  heading (within 25/15 deg).  Without this the removed bias would
  leave the bot stuck at the end of a walkway waiting for a rotation
  that never happens.

- DescendTemplate: restrict the airborne exit-heading bias so it only
  kicks in when the footprint is inside the landing block, or on
  single-step drops where the fall is too short for lateral drift to
  miss the landing column.  On 2+ block drops the bot now keeps yaw
  pointed at the landing center for the whole fall.

- DescendTemplate: add a multi-block overshoot guard on PrepareJump
  exits.  Once airborne and past the landing end-plane on a 2+ Y
  drop, release forward/sprint and press back briefly so air drag
  pulls the bot back into the 1x1 landing column instead of sailing
  one block past it into the neighbouring void.

Live round-trip between the two goal coordinates now completes with
zero replans in three consecutive runs in each direction.  Full unit
test suite is unchanged from the pre-existing baseline (22 failing
tests, all orthogonal to this change).

Made-with: Cursor
This commit is contained in:
BruceChen 2026-04-22 16:43:43 +00:00
parent d002930a6a
commit 5de169db64
19 changed files with 1418 additions and 171 deletions
Download patch file Download diff file Expand all files Collapse all files

221
tools/pathing_data/momentum-capabilities.json
View file

@ -428,6 +428,19 @@
"wall_offset": 1,
"notes": ""
},
{
"family": "sidewall",
"subfamily": "ascend",
"movement_mode": "sprint",
"capability_metric": "gap_blocks",
"min_mm": 0,
"max_mm": 0,
"max_reach": 2,
"delta_y": 1.0,
"ceiling_height": null,
"wall_offset": 2,
"notes": ""
},
{
"family": "sidewall",
"subfamily": "ascend",
@ -441,6 +454,19 @@
"wall_offset": 1,
"notes": ""
},
{
"family": "sidewall",
"subfamily": "ascend",
"movement_mode": "sprint",
"capability_metric": "gap_blocks",
"min_mm": 1,
"max_mm": 12,
"max_reach": 3,
"delta_y": 1.0,
"ceiling_height": null,
"wall_offset": 2,
"notes": ""
},
{
"family": "sidewall",
"subfamily": "ascend",
@ -480,6 +506,19 @@
"wall_offset": 1,
"notes": ""
},
{
"family": "sidewall",
"subfamily": "ascend",
"movement_mode": "walk",
"capability_metric": "gap_blocks",
"min_mm": 0,
"max_mm": 0,
"max_reach": 1,
"delta_y": 1.0,
"ceiling_height": null,
"wall_offset": 2,
"notes": ""
},
{
"family": "sidewall",
"subfamily": "ascend",
@ -493,6 +532,19 @@
"wall_offset": 1,
"notes": ""
},
{
"family": "sidewall",
"subfamily": "ascend",
"movement_mode": "walk",
"capability_metric": "gap_blocks",
"min_mm": 1,
"max_mm": 12,
"max_reach": 2,
"delta_y": 1.0,
"ceiling_height": null,
"wall_offset": 2,
"notes": ""
},
{
"family": "sidewall",
"subfamily": "descend",
@ -532,6 +584,19 @@
"wall_offset": 1,
"notes": ""
},
{
"family": "sidewall",
"subfamily": "descend",
"movement_mode": "sprint",
"capability_metric": "gap_blocks",
"min_mm": 0,
"max_mm": 0,
"max_reach": 4,
"delta_y": -2.0,
"ceiling_height": null,
"wall_offset": 2,
"notes": ""
},
{
"family": "sidewall",
"subfamily": "descend",
@ -545,6 +610,19 @@
"wall_offset": 1,
"notes": ""
},
{
"family": "sidewall",
"subfamily": "descend",
"movement_mode": "sprint",
"capability_metric": "gap_blocks",
"min_mm": 1,
"max_mm": 12,
"max_reach": 5,
"delta_y": -2.0,
"ceiling_height": null,
"wall_offset": 2,
"notes": ""
},
{
"family": "sidewall",
"subfamily": "descend",
@ -584,6 +662,19 @@
"wall_offset": 1,
"notes": ""
},
{
"family": "sidewall",
"subfamily": "descend",
"movement_mode": "sprint",
"capability_metric": "gap_blocks",
"min_mm": 0,
"max_mm": 1,
"max_reach": 4,
"delta_y": -1.0,
"ceiling_height": null,
"wall_offset": 2,
"notes": ""
},
{
"family": "sidewall",
"subfamily": "descend",
@ -597,6 +688,19 @@
"wall_offset": 1,
"notes": ""
},
{
"family": "sidewall",
"subfamily": "descend",
"movement_mode": "sprint",
"capability_metric": "gap_blocks",
"min_mm": 2,
"max_mm": 12,
"max_reach": 5,
"delta_y": -1.0,
"ceiling_height": null,
"wall_offset": 2,
"notes": ""
},
{
"family": "sidewall",
"subfamily": "descend",
@ -649,6 +753,19 @@
"wall_offset": 1,
"notes": ""
},
{
"family": "sidewall",
"subfamily": "descend",
"movement_mode": "walk",
"capability_metric": "gap_blocks",
"min_mm": 0,
"max_mm": 0,
"max_reach": 2,
"delta_y": -2.0,
"ceiling_height": null,
"wall_offset": 2,
"notes": ""
},
{
"family": "sidewall",
"subfamily": "descend",
@ -662,6 +779,19 @@
"wall_offset": 1,
"notes": ""
},
{
"family": "sidewall",
"subfamily": "descend",
"movement_mode": "walk",
"capability_metric": "gap_blocks",
"min_mm": 1,
"max_mm": 2,
"max_reach": 3,
"delta_y": -2.0,
"ceiling_height": null,
"wall_offset": 2,
"notes": ""
},
{
"family": "sidewall",
"subfamily": "descend",
@ -675,6 +805,19 @@
"wall_offset": 1,
"notes": ""
},
{
"family": "sidewall",
"subfamily": "descend",
"movement_mode": "walk",
"capability_metric": "gap_blocks",
"min_mm": 3,
"max_mm": 12,
"max_reach": 4,
"delta_y": -2.0,
"ceiling_height": null,
"wall_offset": 2,
"notes": ""
},
{
"family": "sidewall",
"subfamily": "descend",
@ -714,6 +857,19 @@
"wall_offset": 1,
"notes": ""
},
{
"family": "sidewall",
"subfamily": "descend",
"movement_mode": "walk",
"capability_metric": "gap_blocks",
"min_mm": 0,
"max_mm": 0,
"max_reach": 2,
"delta_y": -1.0,
"ceiling_height": null,
"wall_offset": 2,
"notes": ""
},
{
"family": "sidewall",
"subfamily": "descend",
@ -727,6 +883,19 @@
"wall_offset": 1,
"notes": ""
},
{
"family": "sidewall",
"subfamily": "descend",
"movement_mode": "walk",
"capability_metric": "gap_blocks",
"min_mm": 1,
"max_mm": 12,
"max_reach": 3,
"delta_y": -1.0,
"ceiling_height": null,
"wall_offset": 2,
"notes": ""
},
{
"family": "sidewall",
"subfamily": "flat",
@ -766,6 +935,19 @@
"wall_offset": 1,
"notes": ""
},
{
"family": "sidewall",
"subfamily": "flat",
"movement_mode": "sprint",
"capability_metric": "gap_blocks",
"min_mm": 0,
"max_mm": 0,
"max_reach": 3,
"delta_y": 0.0,
"ceiling_height": null,
"wall_offset": 2,
"notes": ""
},
{
"family": "sidewall",
"subfamily": "flat",
@ -779,6 +961,19 @@
"wall_offset": 1,
"notes": ""
},
{
"family": "sidewall",
"subfamily": "flat",
"movement_mode": "sprint",
"capability_metric": "gap_blocks",
"min_mm": 1,
"max_mm": 12,
"max_reach": 4,
"delta_y": 0.0,
"ceiling_height": null,
"wall_offset": 2,
"notes": ""
},
{
"family": "sidewall",
"subfamily": "flat",
@ -818,6 +1013,19 @@
"wall_offset": 1,
"notes": ""
},
{
"family": "sidewall",
"subfamily": "flat",
"movement_mode": "walk",
"capability_metric": "gap_blocks",
"min_mm": 0,
"max_mm": 1,
"max_reach": 2,
"delta_y": 0.0,
"ceiling_height": null,
"wall_offset": 2,
"notes": ""
},
{
"family": "sidewall",
"subfamily": "flat",
@ -830,5 +1038,18 @@
"ceiling_height": null,
"wall_offset": 1,
"notes": ""
},
{
"family": "sidewall",
"subfamily": "flat",
"movement_mode": "walk",
"capability_metric": "gap_blocks",
"min_mm": 2,
"max_mm": 12,
"max_reach": 3,
"delta_y": 0.0,
"ceiling_height": null,
"wall_offset": 2,
"notes": ""
}
]