The suspect line is pinned at scoping: our ValidateWalkable measures the
sphere's VERTICAL bottom against the plane (planted rest, perp = r*N.z)
while our AdjustSphereToPlane is already a faithful tangent port — we
mix the two geometries today and the planted one wins on terrain. D0
byte-pins retail's validate_walkable distance basis with an explicit
STOP if it refutes the premise; D2 retests the #341 harness flip ten
ways under the mechanism's stability prediction; the gate teaches the
user that slightly hovering feet on steep slopes is the CORRECT retail
look. Queued behind S1B and S2 — one physics slice in flight at a time.
Co-Authored-By: Claude Opus 5 <noreply@anthropic.com>
