arcattack and Claude Opus 4.8
2aba89f962
MP: FIX replicant walk-entry floor -- gate on standSpeed not walkStrideLength (task #50 )
...
The prior floor gated on walkStrideLength*0.5, but walkStrideLength is a
stride METRIC (~22.0), not the walk velocity (~6.1) -- so the condition
sd > 11 was never true for a walking peer and the floor never fired. The
replicant's derived speedDemand (== actual velocity 6.13) sits BELOW
standSpeed (6.83), so the leg SM's stand->walk gate (standSpeed < demand)
never tripped and the peer slid forward in the Standing pose.
Gate on standSpeed instead: floor the demand to standSpeed*1.05 when the
peer is clearly walking (demand in (standSpeed*0.5, standSpeed*1.05)).
Verified live: uvel=6.13 -> spd=7.169 floored, legState enters 5 (walk)
on frame 1 with no Standing-pose slide. standSpeed=6.8277 confirmed.
Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com >
2026-07-14 11:07:45 -05:00
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