Root-caused from a live per-frame [replmov] trace (user's session, where replication
works -- the headless rig won't spawn a replicant): the replicant's leg SM sat in
Standing (legState 0, legFrm pinned at 19) while dead-reckoning forward at spd=6.13,
until the master's speed rose to 6.99, then it snapped to StandToWalk.
Cause: the replicant derives speedDemand from the master's ACTUAL velocity, but a
mech's forward walk velocity == walkStrideLength, which sits BELOW standSpeed (bhk1:
walk 6.13 < stand ~6.8). The leg SM's stand->walk gate is ,
so a steadily-walking peer's derived demand NEVER crosses it -> the peer slides in the
standing pose until the master happens to accelerate past standSpeed. The master never
hits this: it feeds the leg SM its COMMANDED throttle speed (>> standSpeed), not the
actual velocity.
Fix: when the peer is clearly moving forward, floor the derived demand just past
standSpeed so it enters the walk cycle immediately; the walk case clamps legCycleSpeed
back to walkStrideLength, so cadence still matches travel (no foot-slip). Reverse
needs no floor (its gate is commandedSpeed < ZeroSpeed, tripped by any negative).
Diag: BT_REPL_MOV (per-frame replicant pos/vel/speed/legState/legFrm + master twin).
Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
EOF
arcattack
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