The linear pose send-gate watched only POSITION drift + the 2s heartbeat.
When a mech stops, its localOrigin is pinned and the master's own dead-reckon
projection re-bases to it each frame, so error->0 and NO pose record fires --
leaving the peer holding the last WALKING velocity (updateVelocity). The
replicant then dead-reckons + animates a phantom walk-in-place until the 2s
heartbeat (stretched to ~30s when the master window is OS-throttled to ~8fps
while backgrounded during solo two-window testing).
Add the symmetric linear 'came-to-rest' trigger -- the exact analog of the
angular (live yaw-rate==0 && replicated yaw-rate!=0) resync trigger already
present in the type-4 gate: fire a pose record the frame the live horizontal
speed collapses while the last-SENT speed was still non-zero, so the replicant
receives velocity=0 immediately instead of waiting for the heartbeat.
Diagnosis established via BT_WIRE tx0/rx0 probes: records deliver 1:1
(239 tx =~ 240 rx), velocities match -- NOT a replication stall; the master
simply never transmitted the stop. Also confirmed the dominant choppiness is
OS window-throttling (master 8fps backgrounded vs observer 63fps), a
two-windows-on-one-box test artifact absent on real pod hardware.
Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
