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docs: S4b's STOP fired — retail is PLANT-THEN-LIFT; the reland maps to AD-66's bare radius alone

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The contract's D0 byte-pin refuted the tangent-placement premise:
validate_walkable @0x0050d010 is planted for every normal mover
(Ghidra + BN + ACE agree; ours is already byte-faithful; only the
camera branch is tangent). With the byte-proven bare-radius push-out
the coherent retail mechanism is plant-then-lift — the push fires once
per settle, raises the body to tangent equilibrium, and both checks go
quiet there. The slope float comes from the push, not the placement,
exactly as the original substitution's own comment argued. The 84%
live fire rate was measured against our push-disabled steady state;
the #341 assert-shape flip now reads as order-dependent settle state.
The user's 'port the retail pair' therefore maps to relanding AD-66's
bare radius alone, with the ten-run stability protocol.

The STOP rule paid for itself: an implementer without it would have
made ValidateWalkable DIVERGE from retail in the name of faithfulness.

Co-Authored-By: Claude Opus 5 <noreply@anthropic.com>
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Erik 2026-08-07 08:46:16 +02:00
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@ -280,7 +280,26 @@ rests TANGENT to the slope. Two independent decompilers now agree. Consequences,
under the bare trigger, a planted start lifts once — which of the two the
harness settle leaves is plausibly order-dependent test state.
**DECIDED 2026-08-07 by the user: "port the retail pair."** Tangent resting
**RE-DECIDED 2026-08-07 night (S4b's D0 STOP fired and REFUTED the tangent-
placement premise):** retail's `OBJECTINFO::validate_walkable` @0x0050d010 is
PLANTED (vertical foot point) for every normal mover — Ghidra + BN + ACE all
agree, and acdream's ValidateWalkable is ALREADY a byte-faithful port; only
the IsViewer/camera branch is tangent. The coherent retail mechanism is
therefore PLANT-THEN-LIFT: validate_walkable plants, adjust_offset's
bare-radius push fires once per settle and raises the body to tangent
equilibrium (dist=r), where BOTH checks go quiet — the slope float comes
from the PUSH, not the placement, exactly as the original AD-66 code
comment's "retail itself has the spurious lift" argued. The 84% live fire
rate measured the trigger against our push-disabled planted steady state;
post-fix, bodies settle tangent on first contact and the trigger goes
silent. The user's "port the retail pair" therefore maps to RELANDING
AD-66's bare radius ALONE (validate_walkable and adjust_sphere_to_plane
need nothing), and the #341 flip now has a mechanical story: whether the
harness's settle had already performed the one-time lift is order-dependent
state, which is what the assert-shape correlation was reflecting.
Byte-pin doc: `docs/research/2026-08-07-s4b-validate-walkable-bytepin.md`.
**Original decision record:** **DECIDED 2026-08-07 by the user: "port the retail pair."** Tangent resting
placement + bare-radius trigger land TOGETHER as one slice (S4b), gated by
the user's eyes on a slope. The slice must first establish WHERE our planted
rest comes from (the live capture's r*N.z rest was measured on outdoor