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Autopilot: approach aims at the next pass's strip; tear rule and early set-aside reverted - #5
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dtt-github merged 3 commits intoNov 6, 2026
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…e and early set-aside reverted The pass count goes up only once the approach is reached, so 'swing back' and the approach were planned with the previous pass's strip: the house swung toward the new strip, back to the old one, then across again while penetrating, overshooting into the pit wall. That was the failing clay strip at +20 deg. _lane_pass() now aims both at the next pass's strip. Clay and loam dump about 11 % more per pass (25-pass runs, 3 each); clay over 1500 s loads 52-58 t instead of 43.5 t. The curl-tear rule lowered clay and loam per-pass mass, and setting poor strips aside early made no measurable difference, so both are reverted (A/B in RESULTS.md). Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
…d JSON The README still gave the spec swing (13.3 min^-1, 68.9 kN m) and the pre-calibration cycle (15-18 s, about 1 t per pass). It now gives the PWRI-calibrated swing, marks the swing torque and bucket offset as provisional, and the current pass times and payloads. haul_bench_lane_fix_long_* had Warp's startup output above the result line. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
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Stacked on #4: it adds one commit on top of 3371b1c.
The clay strip 20° left. The pass count goes up only once the approach is reached, so the swing back and the approach were planned with the previous pass's strip. The house swung toward the new strip, back to the old one, then 37° across while penetrating, overshot to +27° and stuck on the pit wall. The new
_lane_pass()aims both at the next pass's strip.3371b1c reverted. The curl-tear rule and the early set-aside were checked with A/B runs, 3 runs of 25 passes per soil. Mean kg dumped per pass:
The tear rule hurts both cohesive soils. The early set-aside made no difference over 1500 s of clay.
The fix alone, before and after:
Over 1500 s, dry sand and loam stay within the spread between runs. The trench and zone benches and
test_env.pypass. Still open, and recorded in RESULTS.md: thin clay passes once the pit is deep, and dry sand's about 30 s stall while a full load waits to leave.Adds 34 sim result logs in
phase2/logs/. No PWRI recordings are included.🤖 Generated with Claude Code