User-reported 'gliding stops': when the master halts, the peer's legs wind down
to standing but the error-absorption kept sliding the body forward to close a
small residual offset -- visible precisely because no leg motion masks it. With
the feet planted a sub-unit correction is imperceptible, so resolve it in one
frame (k=1) when replLegAdv~0 and the offset is small, instead of gliding it in.
Large offsets at rest (a real teleport) still ease.
Measured (stop-emphasis sweep): maxStep 1.77u->0.98u (now sub-unit), peer drift
2.1u->1.0u mean. The remaining <=1u snaps are the leg-vs-body channel-shape
mismatch -- likely at/near the in-spec floor for this test rig (the Python
console relay batches packets, unlike the real dedicated pod network).
Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
