From ea39af1ff6a94db0a7468eb596928fd4987958c3 Mon Sep 17 00:00:00 2001 From: arcattack Date: Tue, 14 Jul 2026 20:00:25 -0500 Subject: [PATCH] KB: peer coupled-motion architecture -- completion plan + session landings (task #50) Co-Authored-By: Claude Opus 4.8 (1M context) --- context/open-questions.md | 19 +++++++++++++++++++ 1 file changed, 19 insertions(+) diff --git a/context/open-questions.md b/context/open-questions.md index e5e63d2..298f836 100644 --- a/context/open-questions.md +++ b/context/open-questions.md @@ -610,3 +610,22 @@ register. ⚠ The audit also flags the damage-economy item as SELF-CONTRADICTOR ## Key Relationships - Feeds from: every subsystem/render topic (their deferral notes collect here). - Gating master: [[source-completeness]] (the missing BT source). + +## Peer coupled-motion architecture — COMPLETION PENDING (task #50 tail, 2026-07-14) +The user's speed-change peer glitch is the last visible MP motion artifact. Root +cause is ARCHITECTURAL and decomp-confirmed: the original peer (FUN_004ab430 -> +FUN_004ab1c8) drove position FROM the clip's root travel between records (feet +locked to ground by construction) + pose-sync offset decay; our port dead-reckons +position from velocity while legs run on commanded speed — they disagree exactly +during accel/decel. The PEER half is implemented env-gated (BT_ROOT_POS=1, +mech4.cpp replicant branch) but measured worse alone: with sparse records the +master's VELOCITY mirror under-sends for a gait-driven peer (11u snaps); with +dense records the two authorities tug-of-war (path/net 1.86). COMPLETION NEEDS +THE MASTER HALF: (1) master send-gate linear mirror driven by the same gait +travel (its own channel-B IntegrateMotion projection, as the binary's), so +records model the peer; (2) then sparse authentic deadband cadence + offset +decay. All fixed-and-committed groundwork: exact quaternion integration +(a8eb8a4), incremental peer heading (d78e77b), clock guard (93456be), commanded- +speed cadence feed (6374efc), Abs-macro fix (7615ecd). Speed model decomp-settled +(2c6db6a): analog throttle, '5 speeds' false, throttleState@0x4a4 is actually the +fall-surface material (RENAME PENDING).