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docs(p2): record cellar-lip wedge visual-gate PASS (cellar smooth, door blocks, step-up climbs)

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Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
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Erik 2026-06-05 09:24:54 +02:00
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docs/research/2026-06-04-p2-cellar-lip-flatfloor-cp-handoff.md
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# P2 cellar-lip wedge — CANONICAL handoff (flat-floor contact-plane coin-flip) # P2 cellar-lip wedge — CANONICAL handoff (flat-floor contact-plane coin-flip)
## ✅ PRIMARY ROOT CAUSE FOUND + FIXED 2026-06-05 (START HERE — supersedes UPDATE 2 below) ## ✅ FIXED + VISUAL-GATE PASSED 2026-06-05 (START HERE — supersedes UPDATE 2 below)
**VISUAL GATE PASSED (user, 2026-06-05): "Yes all works!"** — cellar ascent smooth (no last-step wedge),
inn door still BLOCKS, generic step-up still climbs. The residual 9/29 sliding-normal records did NOT
manifest in live play, confirming they were buggy-trajectory artifacts (not a live issue). Commits:
`cc4590f` (fix + validation tests + handoff/memory) and `9fdf6a5` (strip the dispatch-trace probes).
**The P2 cellar-lip wedge is DONE.** (Commits are local on the branch — not pushed.) The rest of this
banner is the root-cause writeup.
**The pinned "find_walkable is NEVER called during the step-down" (UPDATE 2) was a PROBE ARTIFACT.** **The pinned "find_walkable is NEVER called during the step-down" (UPDATE 2) was a PROBE ARTIFACT.**
A clean `[fc-dispatch]`/`[step-sphere-down]` trace (TEMP probes, gated on `ACDREAM_PROBE_INDOOR_BSP`, A clean `[fc-dispatch]`/`[step-sphere-down]` trace (TEMP probes, gated on `ACDREAM_PROBE_INDOOR_BSP`,