Two coupled fixes for live 258<->237 / 237<->244 routes that previously
hit 5 replans and gave up on Ascend exit=Turn segments.
DescendTemplate: when biasTowardExitInAir is false on a multi-block
diagonal descend, the per-tick targetYaw rotates as the bot drifts past
the landing column mid-fall (e.g. dx=-1 dz=-1 drop yaw cycles 135 -> 90
-> 0 -> 315 over six air ticks). With Forward held, that rotating yaw
pushes air-control momentum perpendicular to the planned trajectory,
sliding the bot ~0.5 m off the landing onto an adjacent block one tier
below. Lock airborne yaw to the segment's start->end heading for those
descends so air drift stays aligned with the diagonal.
AscendTemplate: add a post-landing completion shortcut for non-FinalStop
exits. Once the jump arc puts the bot back on ground at the target's
elevation with its center inside the target column, hand off to the
next template (which snaps yaw on its first tick). Holding the segment
runs both AscendTemplate's top-level yaw smoothing toward a moving
targetYaw AND GroundedSegmentController's segment/exit-heading rotation
each tick. The competing yaw targets oscillate the bot ~80 ticks until
it walks off the 1-block landing's edge and the segment fails. Mirrors
the existing PrepareJump completion gate. FinalStop is excluded so the
last segment still uses IsSettledAtEnd to detect a true stop.
Live verification on 1.21.11 (round-trip 244<->237 plus the originally
failing 237->244 route): four navigations, 0 replans, all 25/41/24/41
segments completed.
Made-with: Cursor
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
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
