Pins, wall slide, and first lap-gate harness
· Dirt Bowl Rally (offroad)
Progress
First serious push toward a one-lap gate: scripted Puppeteer run from the grid with timed
W / A / D segments. By end of day the harness reports about
57% of track arc-length (tp ≈ 2312 / 4042) with laps=0.
- bug-start-fold-projection — start/finish fold no longer awards false laps; projection uses
hintS. - bug-pin-s191-hairpin — removed degenerate hairpin control point; wall slide + tangent repair.
- bug-south-wall-pin — parallel wall scrape: center-biased resolve, lateral nudge, tangent slide on throttle.
- t-7120 — crawl assist: heading pulls toward tangent when throttling at low speed; lighter drag under ~18 px/s.
Learnings
Centerline ≠ midpoint between barriers. Progress is arc-length on a BFS centerline through dirt; the drivable mask is a tube minus barrier pixels. Misalignment shows up as “on track” in telemetry but wrong line visually — filed as centerline drift work (t-f1f9).
Wall contact should bleed speed along the tangent, not kill forward motion when scraping parallel barriers. Lesson captured in t-lesson-wall-slide.
Feel target: Super Off Road reference lap @ 0:44 (t-design-super-offroad).
Failures
Gate still false — no laps→1 despite tp jumping mid-run (e.g. 668→2312 in one
W segment). That jump is partly projection/crawl integration, not pure driving distance
(t-513b).
Hairpin and south-wall pins blocked early loops; after fixes, the bottleneck became arc-length stability and lap counting.
Screenshots
Two frames from shots-verify-20260524-221944 — full sequence left in /tmp/offroad-play/.
