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
The cardinal-jump side-wall gate previously demanded BOTH lateral
columns be passable along the trajectory, and the landing-overshoot
gate rejected jumps with a wall one block past the landing on the
takeoff axis. Both rules rejected feasible jumps in the live world:
breaking a single head-height block in a corridor with a continuous
wall on one side could leave a +1 ascend cardinal sprint jump as the
only reachable route, but the planner returned no path.
Side-wall check now accepts when at least one lateral side is
passable. The bot footprint (0.6m centred) stays >=0.2m clear of an
adjacent wall under on-axis yaw, so a single-side wall does not
contact the arc; only a fully-walled tunnel is rejected so the
executor's 5-degree yaw drift has bail-out room.
Landing-overshoot check is now a no-op. The LandingRecovery brake
profile keeps cardinal-jump overshoot under 0.3m so the footprint
stays inside the landing block when the brake engages, making the
"wall one cell past landing" check a false positive in practice.
Updated the conflicting Rejects2x1GapWhenSideWallNarrowsLanding test
to assert the new accept-with-single-side-wall behaviour, added a
fully-walled-tunnel rejection test to guard the bail-out lower bound,
and added a regression covering the live "+1 ascend over a broken
head-height block in a single-walled corridor" scenario.
Made-with: Cursor
When a Descend segment is followed by another Descend (or Traverse/
Diagonal) with a different heading, PathSegmentBuilder.Classify
correctly assigned ExitTransition=LandingRecovery, but BuildHints fell
into the `if (turning)` branch first and returned hints with
RequireStableFooting=true. That gate forces GroundedSegmentController to
wait for IsSettledOnTargetBlock (footprint inside, won't leave next tick,
horizontal speed^2 <= 0.0016), so a multi-block diagonal Descend that
landed inside the target block while still carrying ~0.02 m/tick of
residual jump momentum oscillated in place for ~60 ticks (3 seconds)
until the speed decayed.
Move the LandingRecovery branch ahead of the turning branch so the
Descend-carry handoff uses RequireStableFooting=false and the
ShouldComplete shortcut (LandingRecovery + footprint inside target on
the ground) fires the moment the bot reaches the landing column.
Adds two regression tests covering the Descend->turning-Descend handoff
and a sanity guard that ordinary Traverse->turning-Traverse still uses
the turning branch.
Also lifts DiagnosticsTailSize from 64 to 200 and emits an automatic
"slow segment" tick dump from PathSegmentManager whenever a segment
takes >=25 ticks, which is what surfaced this stall.
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
Replace seven hand-written IMove classes (MoveTraverse, MoveDiagonal,
MoveAscend, MoveDiagonalAscend, MoveDiagonalDescend, MoveParkour,
MoveSidewallParkour) with a single MoveJump driven by a JumpDescriptor
(XOffset, ZOffset, YDelta, JumpFlavor). JumpFeasibility is the single
source of truth for the physics/cost rules of every jump-family move.
A* no longer iterates a flat IMove[]. The Calculate loop now drives
an IMoveExpander[] that writes into a stackalloc Span<MoveNeighbor>,
eliminating per-iteration heap traffic. JumpExpander enumerates every
jump-family descriptor dynamically; LegacyMoveExpander wraps the
remaining dynamic-landing moves (MoveDescend, MoveSprintDescend,
MoveClimb, MoveFall) so callers that still pass a custom IMove[]
keep working.
Add two O(1) short-circuits at the top of JumpExpander.Expand:
- Hoist the per-node parkour preconditions (AllowParkour + CanSprint,
standing block climbability, feet-liquid, head clearance at y+2)
so ~170 SprintJump + Sidewall descriptors never call JumpFeasibility
when the node cannot take off at all.
- Precompute an 8-way "first step has no floor" table indexed by
(sign(dx), sign(dz)) so SprintJump descriptors in a direction that
has a walkable floor underneath are dropped without Evaluate.
- Add a conservative "any cardinal wall at y or y+1" probe that skips
all 112 Sidewall descriptors when no wall exists adjacent to the
takeoff.
Move tests switch to the new MoveJump.* factory methods. Behavior is
verified by the existing test suite: the 21 pre-existing baseline
failures are preserved exactly, 0 regressions introduced.
Made-with: Cursor
Introduce an EntryPreparationState carried on PathNode + A* context so
sidewall parkour can explicitly request one or more runway traverses
before takeoff instead of silently dropping the move. ParkourFeasibility
gains TryGetRequiredStaticEntryRunupSteps + HasPreparedRunup helpers so
long descends (major=5, dy=-1) only remain feasible when the preceding
node proved the runup.
Widen HasDominantAxisRunUp to accept cold-start sprint-jumps within
~3.1-3.5 blocks horizontally so lone overhang / staircase takeoffs stay
feasible without a 2-block runway (matches Baritone's MomentumBehavior
.ALLOWED contract).
Add a runtime SidewallParkourController that implements the corner
commitment + wall-hug chain during execution.
Extend pathing test fixtures with InitialMomentumTicks, add sidewall
accepted/rejected scenarios, and refresh timing + contract baselines to
reflect the new planner shapes. Document the design in
docs/superpowers/specs and plans.
Made-with: Cursor
Move PathSegmentManager's Replan to Task.Run so the main tick only reads
results and swaps executors, and introduce a _nextExecutor pre-planning
slot so upcoming segments can prepare while the current one finishes.
Relax per-tick yaw/pitch rate limiting: allow instantaneous snapping
before jump ticks (Baritone does this and servers do not kick for it).
Align jump-template success/failure contracts with Baritone:
- Success key shifts from "speed squared" to "feet-on-target block".
- Failure window widened to the ~200 tick range.
- AscendTemplate gets a headBonkClear + edge/side proximity
precondition so launches only happen from a safe takeoff.
Expose an initialMomentumTicks option on TemplateSimulationRunner so
follow-up sidewall scenarios can warm up physics before a template
starts.
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
