The precision rig the operator specified: two nodes, target visible,
every zone aimed at deliberately through the REAL reticle/pick path.
* BT_SPIN_SELF=<deg/s> (target node): rotates the node's own viewpoint
mech in place (the BT_SPAWN_AT write pattern per frame) so every
aspect passes the shooter's boresight; the operator watches this
node's paper doll take the hits.
* BT_ZONE_WALK=<secs/zone> (shooter node): walks the target's damage
zones in order, resolves each zone's carrier segment's live world
position (BTResolveSegmentWorld + the new BTMechZoneSegAndName
bridge), SERVOS the torso twist + aim elevation until the centered
reticle ray (BTGetAimRay) points at the segment, fires 3 laser
pulses, advances. [walk] ZONE/FIRE/HOLD on A pairs with [dmghit]
zone/level lines on B.
* scratchpad/night10/zonewalk.sh: launch both + relay, map sed'd to
grass/day, NO kill timer -- the session stays up for observation.
Hard-won servo constraints (documented in test-harness.md so they are
never relearned): the ENGAGE GATE (ray live + range<150 + bearing<1.1;
outside it RELAX the twist -- servoing at the twist limit while the
goto marches is a limit-clamp fight that visibly shakes the mech, and
a 0.55 gate deadlocks against the goto's ~0.55 resting bearing); YAW
POLARITY -1 (the twist cell's angular sense is opposite atan2(x,-z)
world yaw -- operator-observed live, the SECOND witness for the #124
SelectSlice twist-sign flip) with a divergence watchdog that
self-flips; damped correction (gain .40, cap .025/frame -- the aim ray
lags the twist write a frame); and a one-shot approach PORT to 100u
off the target instead of a cross-map march.
First live run: walker cycles zones, settles, fires; the target's
luleg climbed 0.458->0.523 under its own aimed pulses -- aimed shot,
correct panel, damage consumed.
Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
