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
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
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
