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Minecraft-Console-Client/tools/pathing_data/momentum-capabilities.json
BruceChen 5de169db64 pathing: stabilize 0-replan round-trip on ledge/descend runs 
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
2026-04-22 16:43:43 +00:00

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]
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