COLLISION / CLEARANCE / SUPPORT
Find the failed step.
Understand the stop.
Inspect a rejected movement proposal, its body footprint, and the geometry involved. Preview a specific repair and check the routes again.
Choose a controlled case
Checking…
Keep this case
The study records a controlled scenario and repair state. Evidence includes the route check and observed movement; its replay tool checks both.
A RESULT YOU CAN INSPECT
Plan
Side section through the body
Blue: observed path. Gold: last body footprint. Red: rejected proposal and implicated geometry. Contact outlines may project geometry above the plan's cut height.
Implicated source records
Exact proposal and walker result
This lab uses four controlled edits to a two-floor gallery. The observer follows the existing walker's ordered x/z substeps and checks its result against the unmodified walker. A mismatch is explicitly ambiguous. Footprints show the axis-aligned radius tests actually used by this walker. Headroom labels describe overhead contacts at the rejected support height; mixed contacts remain ambiguous. Restoring a fixture is a tested preview, not an automatic repair of arbitrary user geometry.